Control and mechanical design of a multi-diameter tri-legged in- pipe traversing robot

• Main Authors: Bandala, Argel A., Maningo, Jose Martin Z., Fernando, Arvin H., Vicerra, Ryan Rhay P., Antonio, Micah Antoinette B., Diaz, Julianne Alyson I., Ligeralde, Manuel I., Mascardo, Philix Anton R.
• Format: text
• Published: Animo Repository 2019
• Subjects: Robots—Dynamics; Mobile robots; Robots—Control systems; Pipe—Inspection; Robotics
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/398
• Institution: De La Salle University

In this paper a versatile and adaptive in-pipe robot is designed and tested The existing problem of versatility and adaptability of in pipe inspection robots are addressed in this study. The robot is equipped with a screw type assembly, which uniformly contracts and retracts a tri-arm assembly of wh...