| 一种用于20mm管道探测的新型移动机构的设计 |
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| 引用本文： | 李国栋,徐健,苏建良,程维明,钱晋武.一种用于20mm管道探测的新型移动机构的设计[J].上海大学学报(英文版),2001,4(Z1). |
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| 作者姓名： | 李国栋 徐健 苏建良 程维明 钱晋武 |
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| 摘 要： |
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A Novel Design on Carrier Mechanism of Micro Inspection Robot within 20mm Pipes |
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| Institution: | School of Electromechanical Engineering and Automation, Shanghai University, |
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| Abstract: | This paper describes a novel design for the carrier mechanism of a pipe-inspection micro robot. Based on this mechanism, a new
micro robot for the pipes with diameter of 20mm has been developed. It can travel through both vertical pipes and curved pipes to make
possible inspection that would be difficult with conventional endoscopes. This mechanism is composed of three units, two novel micro
mechanisms called as a planetary wheel mechanism for robot drive, two micro electromagnetic motors and a flexible coupler. |
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