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Wireless Piping Inspection Vehicle Using Magnetic Adsorption Force

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5 Author(s)

A robot is developed which is able to climb on a perpendicular branched piping and moves on the ceiling in the piping with the radio control. This inspection robot adsorbs to the piping using the magnetic adsorption force of a magnetic crawler and moves in piping. Therefore, the crawler should be composed of magnets that have optimal adsorption force. In order to design the crawler, the magnetic adsorption force is analyzed, and the design method of the inspection robot in the piping is shown. The robot mounts a radio control unit and a compact radio camera so as to inspect inside of piping. To validate it, a compact crawler type radio control robot is made, and traveling performance or inspection performance in the piping is examined.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:17 ,  Issue: 3 )