Design and Motion Planning of a Two-Module Collaborative Indoor Pipeline Inspection Robot
Abstract
This paper deals with a design and motion planning algorithm of a caterpillar-based pipeline robot that can be used for inspection of 80-100-mm pipelines in an indoor pipeline environment. The robot system uses a differential drive to steer the robot and spring loaded four-bar mechanisms to assure that the robot expands to grip the pipe walls. Unique features of this robot are the caterpillar wheels, the analysis of the four-bar mechanism...
Paper Details
Title
Design and Motion Planning of a Two-Module Collaborative Indoor Pipeline Inspection Robot
Published Date
Jun 1, 2012
Volume
28
Issue
3
Pages
681 - 696
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