| Issue |
MATEC Web Conf.
Volume 290, 2019
9th International Conference on Manufacturing Science and Education – MSE 2019 “Trends in New Industrial Revolution”
|
|
|---|---|---|
| Article Number | 08015 | |
| Number of page(s) | 8 | |
| Section | Mechanical Engineering, Mechatronics and Robotics | |
| DOI | https://doi.org/10.1051/matecconf/201929008015 | |
| Published online | 21 August 2019 | |
Manipulator for scanning of the pipes external surface
University POLITEHNICA of Bucharest, Dept. of Mechatronics and Precision Mechanics, 313, Splaiul Independenţei, 060042 - Bucharest, Romania
* Corresponding author: bogdan.gramescu@upb.ro
The paper presents a very simple manipulator, which can describe a circular trajectory, in order to position a scanning device for inspecting the external surface of a pipe. The open kinematic chain has only three active joints, and for equally spaced scanning positions around the pipe, its inverse kinematics is derived by help of elementary geometry. The manipulator was built as a part of a mobile robot, serving for inspection and monitoring of the pipelines in the oil and gas industry. Being a demonstrator, its joints actuators are micro RC servos, so a calibration operation of each one was also performed.
© The Authors, published by EDP Sciences, 2019
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