F-1237 狭あい部に対する新しい移動機構と検査法の開発(G15-3 画像認識)(G15 ロボティクス・メカトロニクス部門一般講演)

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This paper described the new moving system which was able to inspect the erosion on the tubes by the laser-sheet method under the moving condition into the narrow tubes space in the boiler of the power station. This new moving system is cosisted of the spiral blades and the roller included the motor. This motor turn round both the roller and spiral blades at the same time and occure the driving force. These structures are called the spiral-roller. We tried the experiment and inspected the basical moving characteristic of the spiral-roller. We obtained the final specification of the spiral-roller to bring the minimum axis load from the result of these experiments and confirmed that which conditions of the moving system constituted by the spiral-rollers bring the stable movement.
2001-08-22