naa a22 4500 510822541 CHVBK 20180411083540.0 cr unu---uuuuu 180411e20130901xx s 000 0 eng 10.1007/s12541-013-0210-z doi (NATIONALLICENCE)springer-10.1007/s12541-013-0210-z Lee Sang Department of Mechanical Design Engineering, Andong National University, 760-749, Andong, Kyungbuk, Korea aut Design of the out-pipe type pipe climbing robot [Elektronische Daten] [Sang Lee] The pipes in plants, including power and chemical plants, require steady maintenance, as the corrosion and abrasion by the fluid within the pipe and from the external environment occur. However, as the process to inspect the pipe is not automated, manual inspection is a very time-consuming job. Therefore, in order to reduce the inspection time and cost, we have proposed the pipe climbing robot for pipe inspection. The presented robot is applicable to plants in operation, because this robot is an out-pipe type, which allows it to move outside of the pipes. And the robot can cover straight as well as bended pipes in various diameters with independently controlled and length adjustable driving wheels. The designs of the mechanism as well as the control system for this robot have been presented and the feasibility of the proposed robot has been demonstrated by the climbing experiments. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Out-pipe robot nationallicence Pipe climbing robot nationallicence Pipe inspection nationallicence Mechanism design nationallicence International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/9(2013-09-01), 1559-1563 2234-7593 14:9<1559 2013 14 12541 https://doi.org/10.1007/s12541-013-0210-z text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0210-z text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Lee Sang Department of Mechanical Design Engineering, Andong National University, 760-749, Andong, Kyungbuk, Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/9(2013-09-01), 1559-1563 2234-7593 14:9<1559 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer