一种用于管道检测的超声控制机器人潜艇

Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI:10.1109/MMVIP.1997.625310

F. Nickols, D. Ho, S. Harrold, R. Bradbeer, L. Yeung

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引用次数: 14

摘要

描述了一种具有四条腿的无脐带潜艇模型，该模型可以通过无线电和超声波控制在管道中行走。介绍了超声波通信系统，提出了解决问题的方法和方法。最后，讨论了腿的运动学、驱动系统和控制。

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An ultrasonically controlled robot submarine for pipe inspection

A model submarine with four legs and without an umbilical is described that is both radio controlled and ultrasonically controlled to walk in a pipe. The ultrasonic communication system is described together with the problem and solutions encountered and worked out. Finally, the leg kinematics, and their actuation system and control are discussed.

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Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice

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