Journal of Advanced Marine Engineering and Technology

  • 제33권5호
  • /
  • Pages.662-671
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  • 2009
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  • 2234-7925(pISSN)
  • /
  • 2234-8352(eISSN)
한국마린엔지니어링학회 (The Korean Society of Marine Engineering)
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배관 검사 및 청소 로봇의 개발

Development of an In-Pipe Inspection and Cleaning Robot

  • 최형식 (한국해양대학교 기계정보 공학부) ;
  • 나원현 (한국해양대학교 대학원 기계공학과) ;
  • 강동완 (한국해양대학교 대학원 기계공학과) ;
  • 강형석 (한국해양대학교 대학원 기계공학과) ;
  • 전지광 (한국해양대학교 대학원 기계공학과) ;
  • 김현식 (동명대학교 로봇시스템공학과)
  • 발행 : 2009.07.31
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초록

In this paper, a robot was developed for in-pipe cleaning and inspecting a large number of circular in-pipes of sea plants, ships, and buildings. A pressure generation mechanism was devised to inspect circular in-pipes with different diameters and to move up and down slant or perpendicular slopes in-pipes. For inspection of the dark inner side of the pipe, a light system using LED which dissipats small electricity was developed. Also, a design method was analyzed to decide the capacity of driving motor for the robot when the mass and maximum velocity of the robot are identified. The robot developed based on the design specification, was tested to verify the performance of the pressure generation mechanism. In addition, a control system was developed for the test.

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참고문헌

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