螺杆原理微型机器人在小管道中通过台阶

MHS'99. Proceedings of 1999 International Symposium on Micromechatronics and Human Science (Cat. No.99TH8478) Pub Date : 1999-11-23 DOI:10.1109/MHS.1999.819996

T. Yamaguchi, Y. Kagawa, I. Hayashi, N. Iwatsuki, K. Morikawa, K. Nakamura

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引用次数: 9

摘要

为了使“螺旋原理微型机器人”通过管道小管道内壁的检测，自动通过台阶部分，提出了一种不需要任何特殊作动器和运动控制的台阶攀爬机构。设计了一个原型，可以通过直径为100毫米和75毫米的两根管道之间的同心和偏心台阶。对不同位置有台阶的管道进行了运行性能试验研究。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Screw principle microrobot passing steps in a small pipe

In order to pass the "screw principle microrobot", which the authors have proposed to inspect the inner wall of small pipes in plumbings, to pass a stepped portion automatically, a step climbing mechanism which does not require any special actuators nor motion control, is proposed. A prototype was designed to pass both concentric and eccentric steps at the junction between two pipes 100 mm and 75 mm in diameter. The running performance is experimentally examined for some pipes which have a step at different positions.

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MHS'99. Proceedings of 1999 International Symposium on Micromechatronics and Human Science (Cat. No.99TH8478)

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