This paper describes a novel design for the carrier mechanism of a pipe-inspection micro robot Based on this mechanism, a new micro robot for the pipes with diameter of 20mm has been developed. It can travel through b...This paper describes a novel design for the carrier mechanism of a pipe-inspection micro robot Based on this mechanism, a new micro robot for the pipes with diameter of 20mm has been developed. It can travel through both vertical pipes and curved pipes to make possible inspection that would be difficult with conventional endoscopes. This mechanism is composed of three units, two novel micro mechanisms called as a planetary wheel mechanism for robot drive, two micro electromagnetic motors and a flexible coupler.展开更多
基金the the National High-Tech R&D Program(863-5 12-9804-18)
文摘This paper describes a novel design for the carrier mechanism of a pipe-inspection micro robot Based on this mechanism, a new micro robot for the pipes with diameter of 20mm has been developed. It can travel through both vertical pipes and curved pipes to make possible inspection that would be difficult with conventional endoscopes. This mechanism is composed of three units, two novel micro mechanisms called as a planetary wheel mechanism for robot drive, two micro electromagnetic motors and a flexible coupler.
