1P1-K11 磁石振子を用いた2輪型管内走行ロボットの研究(車輪型/クローラ型移動ロボット)

概要

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We have made a pair of in-pipe locomotion robots in small radius (50[mm]) pipe-lines. These two robots are connected to each other and can run inside of the pipe-lines by two wheels with magnets on pendulums. The first robot can inspect inside of the pipe by a CCD camera, which operated by the controller. The second robot follows the first one, automatically. The authors have proposed to use multiple robots to increase payload in small environment. However, previous robots had problems in tracking and turning performance because of four-wheel mechanism and simple control system. This report describes improvement way of those problems using two-wheel mechanism and new control system, and some motion experiments of new robots.
一般社団法人日本機械学会の論文
2011-05-26