"Uniball" a novel method of movement for pipe climbing robots
2012 (English)In: Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012, 2012, 305-312 p.Conference paper (Refereed)
Most of the proposed robots for pipe inspection are slow and include many mechanical parts leading to complex and unreliable operation. In this paper a novel moving robot for pipe applications, so called "UNIBALL" is proposed which overcomes these problems. Here, instead of wheels, just one ball coupled with electromagnets is used and all the movements are performed by driving the ball beneath the robot. The paper presents the robot design procedure and its detailed structure together with initial experimental test results.
Place, publisher, year, edition, pages
2012. 305-312 p.
IdentifiersURN: urn:nbn:se:hig:diva-19461ISI: 000352212900041ScopusID: 2-s2.0-84891357850ISBN: 978-981-4415-94-1OAI: oai:DiVA.org:hig-19461DiVA: diva2:817295
15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, JUL 23-26, 2012, Baltimore, MD