{"title":"在小直径管道中移动的蛇形机器人的研制","authors":"Hocheol Shin, Kyungmin Jeong, J. Kwon","doi":"10.1109/ICCAS.2010.5669881","DOIUrl":null,"url":null,"abstract":"This paper presents a snake robot moving in a small diameter pipe. A snake robot is a multi-linked modular robot. The snake robot, KAEROT-snake IV consists of 11 2-DOF actuator modules, a head, and a tail module. Each of the 2-DOF actuator modules has two small DC motors and worm gear boxes to increase the torque output and an embedded motor controller. The snake robot can move in a small diameter pipe with a sequence of holding motion as well as with a sinusoidal motion. Some modules holds the robot itself by pressing outward to induce friction while the other modules move forward/backward and hold the robot at a more front/rear position. A sequence of holding moves the robot forward/backward in a small diameter pipe.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"85 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"25","resultStr":"{\"title\":\"Development of a snake robot moving in a small diameter pipe\",\"authors\":\"Hocheol Shin, Kyungmin Jeong, J. Kwon\",\"doi\":\"10.1109/ICCAS.2010.5669881\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a snake robot moving in a small diameter pipe. A snake robot is a multi-linked modular robot. The snake robot, KAEROT-snake IV consists of 11 2-DOF actuator modules, a head, and a tail module. Each of the 2-DOF actuator modules has two small DC motors and worm gear boxes to increase the torque output and an embedded motor controller. The snake robot can move in a small diameter pipe with a sequence of holding motion as well as with a sinusoidal motion. Some modules holds the robot itself by pressing outward to induce friction while the other modules move forward/backward and hold the robot at a more front/rear position. A sequence of holding moves the robot forward/backward in a small diameter pipe.\",\"PeriodicalId\":158687,\"journal\":{\"name\":\"ICCAS 2010\",\"volume\":\"85 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-12-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"25\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ICCAS 2010\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCAS.2010.5669881\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ICCAS 2010","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCAS.2010.5669881","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Development of a snake robot moving in a small diameter pipe
This paper presents a snake robot moving in a small diameter pipe. A snake robot is a multi-linked modular robot. The snake robot, KAEROT-snake IV consists of 11 2-DOF actuator modules, a head, and a tail module. Each of the 2-DOF actuator modules has two small DC motors and worm gear boxes to increase the torque output and an embedded motor controller. The snake robot can move in a small diameter pipe with a sequence of holding motion as well as with a sinusoidal motion. Some modules holds the robot itself by pressing outward to induce friction while the other modules move forward/backward and hold the robot at a more front/rear position. A sequence of holding moves the robot forward/backward in a small diameter pipe.
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