A 2 DoF servomotor-based module for pipe inspection modular micro-robots

被引：16

作者：

Brunete, A. ^{[1
]}

Gambao, E. ^{[1
]}

Torres, J. E. ^{[1
]}

Hernando, M. ^{[1
]}

机构：

[1] Univ Politecn Madrid, Dept Engn Syst Automat, ETSII, Jose Gutierrez Abascal 2, E-28006 Madrid, Spain

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.281898

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A 2 degrees of freedom module for pipe inspection modular micro-robots based on servomotors is presented in this article. A mechanical and electrical description of the module is also given, including the kinematics and the close control loop design to detect obstacles (walls). The main configurations in which it can be used are described as well: snake-like robots and chain multi-configurable modular robots. The different pipes and elbows it can move on are also shown.

引用

页码：1329 / +

页数：2

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