A cable-tunnel inspecting robot for dangerous environment | Zendy

Zhuang Fu | Zendy; Chen Zu-pan | Zendy; Chao Zheng | Zendy; Zhao Yan-zheng | Zendy

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A cable-tunnel inspecting robot for dangerous environment

Author(s) -

Zhuang Fu,

Chen Zu-pan,

Chao Zheng,

Zhao Yan-zheng

Publication year - 2008

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5610

Subject(s) - computer science , robot , mobile robot , kinematics , simulation , mobile device , artificial intelligence , physics , classical mechanics , operating system

This paper presents a kind of mobile robot used for inspecting the cable tunnel online in the dangerous environment. Usually, the calble tunnel is full of poisonous gases after fire, such as CO, CH4, CO2 and so on. Then, the mobile robot is able to tell us whether the tunnel environment is safe or not. In this paper the architecture of the robot is designed at first to meet the motion requirement in the tunnel. These characteristics distinguish the mobile robot from others like compact structure, small size, little weight and easily being carried. Next, the moving mechanism and its kinematics are described. And thus, the operating procedure and experiments are introuduced to validate its reliablity

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