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Proceedings Paper

Fiber optical system for visualization of inner pipe defects by microrobot
Author(s): Valeriy Gradetsky; Leonid Kravchuk; Maxim Kniazkov; Vladimir Solovtzov; Tamara V. Tulaikova; M. Simakova
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Paper Abstract

The control systems of the miniature robots are suggested for their motion over internal surfaces inside of the small diameter tubes. The mechanical system, information-measuring sensor and control systems are considered. Three versions of the mechanical systems are suggested: electromagnetic, triad wheels and conversion of rotation motion to translation one. The electromagnetic mechanism use push pull tipe method for translation motion realization. Developed schemes in the modules design of control systems were checked experimentally on the robot’s prototypes. Some of the results of the computer simulation illustrate the multilink robot control motion along the internal diameters of the tubes. This work was fulfilled under financial support of the Russian Found of Fundamental researches N 01-01-00913 and in frames of Federal Multi Purpose Scientific and Technical Program of Ministry of Industry, Science and Technologies: “Researches and Developments on priority directions of science and technology”, “Knowledgeable basic investigations” block, “Basic investigations at the field of physics sciences” part Mechanics.

Paper Details

Date Published: 14 October 2004
PDF: 9 pages
Proc. SPIE 5523, Current Developments in Lens Design and Optical Engineering V, (14 October 2004); doi: 10.1117/12.559464
Show Author Affiliations
Valeriy Gradetsky, Institute for Problems in Mechanics (Russia)
Leonid Kravchuk, Institute for Problems in Mechanics (Russia)
Maxim Kniazkov, Institute for Problems in Mechanics (Russia)
Vladimir Solovtzov, Institute for Problems in Mechanics (Russia)
Tamara V. Tulaikova, Institute for Problems in Mechanics (Russia)
M. Simakova, Institute for Problems in Mechanics (Russia)

Published in SPIE Proceedings Vol. 5523:
Current Developments in Lens Design and Optical Engineering V
Pantazis Z. Mouroulis; Warren J. Smith; R. Barry Johnson, Editor(s)

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