Maneuverability of Control in Passing Over a Reducer and Pipeline Diagnostic Results of Mark V Robot with Lazy Tongs Mechanism | Zendy

Hidemi HOSOKAI | Zendy; Fumio HARA | Zendy; Yasuyuki UCHIDA | Zendy; Yasunori Abe | Zendy; Koetsu Tanaka | Zendy; Yoshio Tanaka | Zendy

Open Access

Maneuverability of Control in Passing Over a Reducer and Pipeline Diagnostic Results of Mark V Robot with Lazy Tongs Mechanism

Author(s) -

Hidemi HOSOKAI,

Fumio HARA,

Yasuyuki UCHIDA,

Yasunori Abe,

Koetsu Tanaka,

Yoshio Tanaka

Publication year - 1995

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1995.p0389

Subject(s) - reducer , mechanism (biology) , robot , pipeline (software) , pipeline transport , computer science , robot control , simulation , control (management) , artificial intelligence , mobile robot , engineering , mechanical engineering , philosophy , epistemology , programming language

This paper deals with a control method for a newly designed module-type robot with lazy tongs mechanism, with the experimental results of passing over a reducer, and with the diagnostic results of the Mark V robot with the lazy tongs mechanism. This module-type robot has been newly designed for inspection of pipelines, such as ones for air conditioners and water pipes, in buildings. This robot can recognize reducers by means of a newly designed sensor and can pass over reducers automatically without requirements for changing any part of the robot. Passing the reducers and changes in thickness of pipelines caused by corrosion are shown in experimental results.

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