A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots

This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, and finally control design efforts for snake locomotion. The review shows that the majority of literature on snake robots so far has focused on locomotion over flat surfaces, but that there is a growing trend towards locomotion in environments that are more challenging, i.e. environments that are more in line with realistic applications of these mechanisms.

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“…Without passive wheels [70], [71], [72], [73], [74], [75], [76], [21], [77], [78], [79], [80], [81], [82], [83].…”

Section: Snake Robots Without Contact Force Sensorsmentioning

confidence: 99%

A review on modelling, implementation, and control of snake robots

Liljebäck

Pettersen

Stavdahl

et al. 2012

Robotics and Autonomous Systems

232

118

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“…A robot capable of visual inspection inside complex pipes is required. A number of studies have investigated the mechanisms for control of robots by means of an electrical cable to provide locomotion in a pipe, using devices such as piezoelectric elements [1][2][3], shape memory alloys [4,5], and electromagnetic motors [6][7][8][9][10][11]. Several kinds of inspection robot have been demonstrated.…”

Section: Introductionmentioning

confidence: 99%

Effect of Electrical Cable on Movement-Range of Agnetic Actuator System Capable of Inspection in a Pipe

Sasaki¹,

Sato²,

Yaguchi

2014

J MECH ENG SCI

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This paper proposes a magnetic actuator system of a new type capable of inspection in a complex pipe by means of a new motion principle. Using plural vibration components, the magnetic actuator is able to move in the complex pipe. A magnetic actuator of the reversible type, due to opening and closing of a compound material by using elongation and contraction of four shape-memory-alloy (SMA) coils, was fabricated. In this paper, the influence of the electrical cable length on the moving characteristics of the magnetic actuator is discussed. Twenty electrical cables of 0.12 mm diameter were used in this paper. The experimental result shows that the prototype actuator was able to climb at 15.3 mm/s in the straight pipe when pulling a load mass of 50 g. In addition, the result demonstrated that the magnetic actuator system was able to inspect the complex pipe over a distance of 10 m. This actuator system can inspect a complex pipe with an inside diameter from 40 mm to 50 mm. In addition, the actuator system was able to inspect the pipe with a simple apparatus of three amplifiers and one signal generator.

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“…For the manual type, two modular reconfigurable robots are connected by the user; and various types of modular systems have been proposed (Fukuda and Kawauchi 1990, Yim 1994, Hamlin and Sanderson 1995, Yim et al 2000, Sawada and Matunaga 2003, Brunete et al 2006, Zhu et al 2007, Lyder et al 2008, Kutzer et al 2010. Less effort has been made in the field of self-reconfigurable modular robots, which can autonomously change their configurations.…”

Section: Introductionmentioning

confidence: 99%

A vertically intersected dual-axis modularized reconfigurable actuator: design and application for a six-axis humanoid robot arm

Wang

Huang

Lee

et al. 2013

Journal of the Chinese Institute of Engineers

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A vertically intersected dual-axis modularized actuator system (DAMA) is developed and applied to a six-axis humanoid robot arm in this article. The DAMA consists of a two independent joint system, and the system structure is further refined using finite element analysis. It will be shown that the novel DAMA modular system can be used to easily construct a mechanism with any degrees of freedom. In other words, a modular or reconfigurable system can be achieved using the DAMA module. Based on simulations with ADAMS and MATLAB software packages, the system dynamic properties can be observed. In addition, the hardware and software systems of the DAMA are developed. The hardware architecture is composed of a microprocessor, an RS-232 to CAN bus module, and two independent-joint controller modules. The software control system is written in Visual Cþþ. The system employs a simple but effective PID scheme to independently control the DAMA's two joints. The experimental results show that for an S-curve and circle trajectory input position command, the DAMA and the six-axis humanoid robot arm, which is formed by the DAMA module, can track the command well. Hence, the DAMA can be used as a generic module for multiple-degree-of-freedom systems.

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A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots

Cited by 23 publications

References 4 publications

A review on modelling, implementation, and control of snake robots

A review on modelling, implementation, and control of snake robots

Effect of Electrical Cable on Movement-Range of Agnetic Actuator System Capable of Inspection in a Pipe

A vertically intersected dual-axis modularized reconfigurable actuator: design and application for a six-axis humanoid robot arm

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