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Accession number;05A0960553
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| Title;Pipe inspection robot adaptive to pipe diameter (6th report ; Applying intelligent servo actuator to pipe inspection robot) |
| Author;
TSUJINO KODAI
(Okayama Univ., JPN)
NAKAJIMA JUN
(Okayama Univ., JPN)
SUZUMORI KOICHI
(Okayama Univ., JPN)
KANDA TAKEFUMI
(Okayama Univ., JPN)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (CD-ROM)
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Journal Code:L0318B
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ISSN:
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VOL.2005;NO.;PAGE.1A1-S-080(2005)
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| Figure&Table&Reference;FIG.5, REF.4 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;The purpose of this research is to realize a pipe inspection robot which can adapt to pipe diameter of for 1 to 3 inches. The robot is composed of 13 links and driven by progressing motion of sine wave. It obtains driving force by holding wall of the pipes. The robot has 12 motors so that it comes to have enormous number of cables between the robot and the controller. So we designed and fabricated small servo amplifiers consisting of a PIC and a micro motor driver. And we connect these servo amplifiers to form I2C network. It makes possible to adjust parameters of sine wave the robot generates. In the result the robot can be controlled only with 6 cables between the robot and the controller. We made negotiating experiments in pipes whose diameter is changing along the pipe. We confirmed an availability of the new control robot with intelligent servo actuators. (author abst.) |
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