| ID | 33043 |
| フルテキストURL | |
| 著者 |
Wakimoto, Shuichi
Okayama University
Nakajima, Jun
Okayama University
Tanaka, Masanori
Okayama University
|
| 抄録 | The goal of this research is development of a micro robot which can negotiate pipes whose diameter varies widely. The robot mechanism is based on "snaking drive". First, in section 1 to 4, basic characteristics of the snaking drive are discussed: the principle of the snaking drive is shown, theoretical fundamental formulas are derived, and the motions of the robot are simulated. Second, in section 5, a micro robot was designed, fabricated and tested. And fundamental experiments of the robot are shown. Third, in section 6, two application experiments are shown: one is a stabilization of camera image, and the other is a robot steering at branches. The robot moved in pipes whose diameter varies between 18 mm to 100 mm with the maximum speed of 36 mm/s. And the robot could negotiate T-branches and L-bends of pipes. |
| キーワード | control engineering computing
industrial robots
inspection
microrobots
mobile robots
robot vision
stability
|
| 備考 | Published with permission from the copyright holder. This is the institute's copy, as published in Micromechatronics and Human Science, 2003. MHS 2003. Proceedings of 2003 International Symposium on, 19-22 Oct. 2003, Pages 303-308.
Publisher URL:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1249959 Copyright © 2003 IEEE. All rights reserved. |
| 発行日 | 2003-10
|
| 出版物タイトル |
Micromechatronics and Human Science
|
| 開始ページ | 303
|
| 終了ページ | 308
|
| 資料タイプ |
学術雑誌論文
|
| 言語 |
英語
|
| OAI-PMH Set |
岡山大学
|
| DOI |
