Novel Mechanism for In-Pipe Robot Based on a Multiaxial Differential Gear Mechanism

作者：Kim Ho Moon^*; Choi Yun Seok; Lee Yoon Geon; Choi Hyouk Ryeol

来源：IEEE/ASME Transactions on Mechatronics, 2017, 22(1): 227-235.

DOI：10.1109/TMECH.2016.2621978

• Differential drive
• differential gear
• in-pipe robot

This paper presents a mechanism for an in-pipe robot, called the Multifunctional Robotic crawler for In-pipe inspection VII (MRINSPECT VII), which is under development for the inspection of gas pipelines. Applicable pipeline diameters are from 150 to 200 mm. The robot is based on a multiaxial differential gear mechanism and designed to adapt to the varying inside geometries of pipelines, such as elbows, by mechanically modulating the velocities of active wheels without any control effort. In addition to the differential gear mechanism, the MRINSPECT VII is equipped with an active adhesion mechanism for improving traction ability and a rescue mechanism for easy retrieval of the robot in the case of trouble inside pipelines. In this paper, the multiaxial differential gear mechanism is mainly explained, and the construction of the robot mechanism is detailed. Finally, the effectiveness of the mechanism is experimentally demonstrated with the MRINSPECT VII.

• 出版日期2017-2