A New Type of In-Pipe Inspection Minirobot with Adaptable Structure (IPMR-3)
Journal Title: Robotica & Management - Year 2016, Vol 21, Issue 1
Abstract
Pipe damages and imperfections led to a start in researching ways of inspecting and maintaining the pipelines. An attractive solution is using mobile robots for this matter. This paper presents the development process of a wheeled in-pipe minirobot with adaptable structure called IPMR-3). IPMR-3has three articulated mechanisms placed at 120° angles around its central axis. The actuation is done with three DC motors. IPMR-3 can adapt its structure to pipe diameters ranged between 220 and 380 mm. The end of the paper presents the image capturing method, achieved with a C910 wireless video camera, and images from the testing process.
Authors and Affiliations
Andrei Pop, Mihai Olimpiu Tatar
Keywords
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