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Self-Rescue Mechanism for Screw Drive In-pipe Robots
Li P(李鹏); Ma SG(马书根); Li B(李斌); Wang YC(王越超); Liu YH(刘云辉)
Department机器人学研究室
Conference NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Conference DateOctober 18-22, 2010
Conference PlaceTaipei, Taiwan
Source PublicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
2010
Pages2843-2849
Indexed ByEI ; CPCI(ISTP)
EI Accession number20110313603182
WOS IDWOS:000287672001152
Contribution Rank1
ISSN2153-0858
ISBN978-1-4244-6675-7
AbstractThis paper presents a self-rescue mechanism for a screw drive in-pipe robot, which only uses one DC motor. The robot has two working modes, Normal Working Mode and Self-rescue Mode. Under normal working mode, the robot propels itself in the pipe just as other classical screw drive robots. When the robot encounters the obstacle and gets jammed, the lock up mechanism and motion control mechanism of the robot are activated. Then, the robot changes from working mode to self-rescue mode and moves away in the reverse direction to avoid jamming in the pipe. The change of the working mode is determined by the characteristics of the mechanism. The proposed mechanism can be used as a safety protection method for the pipe robot. Experiments have been conducted to testify the proposed mechanism. Compared with those with screw drive mechanisms, robots with self-rescue mechanism are able to avoid jamming in the pipe.
Language英语
Citation statistics
Cited Times:13[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8867
Collection机器人学研究室
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences(CAS), Shenyang, China
2.Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, Hong Kong
3.Department of Robotics, Ritsumeikan University, Shiga-ken, Japan
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
Recommended Citation
GB/T 7714
Li P,Ma SG,Li B,et al. Self-Rescue Mechanism for Screw Drive In-pipe Robots[C]. Piscataway, NJ, USA:IEEE Computer Society,2010:2843-2849.
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