ICRA 2014: In-pipe Robot with Underactuated Parallelogram Crawler Modules

This is an in-pipe robot with independent underactuated parallelogram crawler modules, which can automatically overcome inner obstacles in the pipes. The parallelogram crawler modules are adopted to maintain the anterior-posterior symmetry of forward and backward movements, and a simple differential mechanism based on a pair of spur gears is installed to provide underactuated mechanisms. A central base unit connects each crawler module through foldable pantograph mechanisms.
[An in-pipe robot with underactuated parallelogram crawler modules]
Published in: 2014 IEEE International Conference on Robotics and Automation (ICRA)
ieeexplore.ieee.org/document/6...
Date of Conference: 31 May-7 June 2014
Date Added to IEEE Xplore: 29 September 2014
Print ISSN: 1050-4729
INSPEC Accession Number: 14616529
DOI: 10.1109/ICRA.2014.6907078
Publisher: IEEE
Conference Location: Hong Kong, China
[Design of an underactuated parallelogram crawler module for an in-pipe robot]
Published in: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
ieeexplore.ieee.org/document/6...
Date of Conference: 12-14 Dec. 2013
Date Added to IEEE Xplore: 17 March 2014
INSPEC Accession Number: 14161750
DOI: 10.1109/ROBIO.2013.6739648
Publisher: IEEE
Conference Location: Shenzhen, China
Lab website
www.malab.se.ritsumei.ac.jp/
#Ritsumeikan #Robot

[@richardextall2002]

How does it cope with T-Junctions in the pipe ?

[@joubertsolorzano9690]

Hi Atsushi, can you give me information about the engines you use? please

[@salony3972]

How did you select the springs. I am doing the same project but can't decide the spring

[@arthurkolesnikov4748]

Dear Atsushi, your robot is very interesting. But I want to ask you a question: I can imagine general field of real usage of it - visual inspection of pipelines, but did you think about particular niche of application? For example what type of pipeline has such amount of branches? And is it applicable for metal pipelines in case of rust? And so on...
Thank you in advance!

[@Aurora.Victoria.Maxwell]

Very interesting concept👍

[@jjsworld1010]

Do you have a similar robot that can push or pull 500 lb?

[@mohamadmousa4550]

would you please mention the price because ı need this robot

[@user-ij7eh1el2c]

hello sir, i am working on the same project topic for final year and i need a regarding model like , materials, sensors, and etc. can we contact regarding the same. Hoping for your positive reply. Thank you.

[@yousofmoanes1649]

Good evening sir ,I wanted to ask few questions as I am doing my Bachelor project on the same project ,if there is any email or way to contact you .And I need Autocad/Solidwork files for the full Parallelogram crawler module as i need it in similar project
Thank you so much for your time🙏

[@zerohello2759]

hi, i was wondring if you had have done this project because i am doing it, and wondering if you had any ideas

[@pavanvaradkar773]

Can i get details of this project please

[@AtsushiKakogawa]

I have added a description on this page.

[@pavanvaradkar773]

Atsushi Kakogawa sir, i cant download files from there can you please give me files on may mail.. my mail id is [e-mail]

[@dogaatl5585]

Atsushi Kakogawa please can you give me files on my mail [e-mail]

[@dominicjosiah2901]

Atsushi Kakogawa Please could you also send me the files on my email [e-mail]

[@aakashkumarchauhan5749]

really like your work sir just one help to aks pls can i have the cad file

[@yousofmoanes1649]

Hello, Wanted to ask if you got the CAD files for this project