Bioinspiration and Robotics Part 12 potx

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 385... In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 387... Bioinspiration and

VCR Computer

Driving robot Driving robot

driving wheels

rotatory potentiometer

2

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x x l

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x

rL

3

e

Bioinspiration and Robotics: Walking and Climbing Robots 384

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In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 385

Bioinspiration and Robotics: Walking and Climbing Robots 386

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 387

Bioinspiration and Robotics: Walking and Climbing Robots 388

Lower Sphere Gear

Outer Universal Joint Upper Sphere Gear

Upper Sphere Gear

Lower Sphere Gear

Magnetic Clutch

Magnetic Clutch

Motor

Rear Segment Front Segment

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 389

Elbow

Branch

Bioinspiration and Robotics: Walking and Climbing Robots 390

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 391

Bioinspiration and Robotics: Walking and Climbing Robots 392

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 393

S t e p 1 S t e p 2

S t e p 1 S t e p 2 S t e p 3

Bioinspiration and Robotics: Walking and Climbing Robots 394

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 395

Bioinspiration and Robotics: Walking and Climbing Robots 396

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 397



Bioinspiration and Robotics: Walking and Climbing Robots 398

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 399

Bioinspiration and Robotics: Walking and Climbing Robots 400

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 401

Bioinspiration and Robotics: Walking and Climbing Robots 402

Bioinspiration and Robotics: Walking and Climbing Robots 404

Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots 405

Bioinspiration and Robotics: Walking and Climbing Robots 406

Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots 407

T

2ʌ sin A

Bioinspiration and Robotics: Walking and Climbing Robots 408