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A novel mobile robot for finned tubes inspection

Published online by Cambridge University Press:  24 October 2003

Yanming Li ,
Peisun Ma ,
Changjun Qin ,
Jun Xu  and
XueGuan Gao
Yanming Li
Affiliation:
The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)[email protected]
Peisun Ma
Affiliation:
The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)
Changjun Qin
Affiliation:
The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)
Jun Xu
Affiliation:
The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)
XueGuan Gao
Affiliation:
The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)
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Abstract

A novel mobile robot FTIR (Finned Tube Inspection Robot) for finned tube inspecting is presented in this paper. FTIR can move in both x- and y-direction on the top layer of the tubing that is installed in layers. The snake-like arms mounted on the robot can be lowered into the narrow space between the tubes and the tubing can be inspected through the device installed in the end of the arms. The moving mechanisms, inspecting device applied in narrow space and control system are introduced.

Keywords

Finned tube inspectionSnake-like armRobot
Type
Research Article
Information
Robotica , Volume 21 , Issue 6 , December 2003 , pp. 691 - 695
Copyright
© 2003 Cambridge University Press

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