In-pipe inspection robot system with active steering mechanism
نویسندگان
چکیده
I n this paper, we present a robot system for inpipe inspection of underground urban gas pipelines. The robot is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, and passive modules such as a control module are chained between the active vehicles. The proposed robot has outstanding mobility oflered by a new steering mechanism called double active universal joint, which makes at possible to cope with complicated configurations of underground pipelines. Characteristic features of the system are described and the construction of the system i s briefly outlined.
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