Mobility of an in-pipe robot with screw drive mechanism inside curved pipes

@article{Kakogawa2010MobilityOA,
  title={Mobility of an in-pipe robot with screw drive mechanism inside curved pipes},
  author={Atsushi Kakogawa and Shugen Ma},
  journal={2010 IEEE International Conference on Robotics and Biomimetics},
  year={2010},
  pages={1530-1535}
}
This paper presents motion analyses and experiments of an in-pipe robot with screw drive mechanism while it moves inside curved pipes. This robot is driven by only one motor and composed of two units. One unit works as a rotator and the another one works as a stator. Screw drive mechanism is a better way to travel inside pipelines of small diameter for inspection, because the area for moving of the robot is narrow and the number of actuators can be reduced (minimum is just one). Therefore, the… CONTINUE READING
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