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This paper describes a new robot capable of inspecting pipes with different diameters. The robot is composed of units and connecting links. One unit is used for the robot to move in a straight pipe, while two or more units are needed to move and turn in a divergent pipe. Several experiments are conducted in the pipes with different diameters, and the(More)
Multiple links structure/wire driven (tendon) system is one of robot structures, that has a serial-link structure driven by a wire-drive mechanism. It can be applied to a manipulator like elephant's trunk, a moray arm, the backbone of a humanoid, etc.. However, transformations among coordinates (task-oriented, joint-angles and wire-length) are very(More)
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