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History of Robotics Research and Development of Japan1994LocomotionDevelopment of an Articulated Multi-Vehicle Robot for Monitoring and Testing In Pipe

Shigeru FujiwaraCXR Corporation
Ryouji KaneharaCXR Corporation
Tokuji OkadaFaculty of Engineering, Niigata University
Tsuyoshi SanemoriCXR Corporation
This paper describes a composition of an articulated multi-vehicle robot in pipe, structure of each vehicle, and their control systems. Output pressure versus extension characteristic of the newly developed two-stage air cylinder, reduction of the wave reflection in a wheel-type ultrasonic probe, umbilical cable assembly housing optical fibers, air tubes and electric cables are treated. The articulated robot is designed and fabricated to demonstrate its travelling performance and automatic scanning of five probes for non-destructive test of a weld bead to the longitudinal direction. The results show that the robot can travel in the pipe of radius 520-800[mm⌀] from its entrance to the distance 150[m]. The robot can pick up surrounding color images and transmit them to the ground station's monitor with sharpness. Also, the NDT is shown to be possible except in the vicinity of elbow area of the pipe.
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operation
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Correspondence papers


T.Okada and T.Sanemori:MOGRER: A Vehicle Study and Realization for In-Pipe Inspection Tasks

IEEE J. of Robotics and Automation, Vol.3 no.6, pp.573-582, 1987

S. Fujiwara, R. Kanehara, T. Okada, and T. Sanemori:Development of an Articulated Multi-Vehicle Robot for Monitoring and Testing In Pipe

Journal of the Robotics Society of Japan, Vol. 12, No. 2, pp. 318-327, 1994 (in Japanese).

Related papers


[1] 岡田:自己適応形管内走行ロボット,計測自動制御学会論文集,21巻、7号, pp.733-740, 1985

[2] 岡田:力発生用パンタグラフ機構の設計,日本ロボット学会誌,4巻,2号,, pp.109-118, 1985

[3] 岡田,実森:管内監視用走行車,モグラ,計測自動制御学会論文集,22巻,8号, pp.897-903, 1986

[4] T.Okada: Optimization of Pantograph Mechanisms for Force Generation, J. of Advanced Robotics, Vol.1, no.3, pp.243-260, 1986

[5] T.Okada and T.Kanade: A Three-Wheeled Self-Adjusting Vehicle in a Pipe, Ferret-1, J. of Robotics Research, Vol.6, no.4, pp.60-75, 1987

[6] 岡田,大谷,川崎,藤原,三村:管内走行スキッド車輪の構造とその移動特性,日本ロボット学会誌,17巻,6号, pp.905-913, 1999

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