Fiber optical system for visualization of inner pipe defects by microrobot

Valeriy Gradetsky; Leonid Kravchuk; Maxim Kniazkov; Vladimir Solovtzov; Tamara V. Tulaikova; M. Simakova

doi:10.1117/12.559464

14 October 2004 Fiber optical system for visualization of inner pipe defects by microrobot

Valeriy Gradetsky, Leonid Kravchuk, Maxim Kniazkov, Vladimir Solovtzov, Tamara V. Tulaikova, M. Simakova

Proceedings Volume 5523, Current Developments in Lens Design and Optical Engineering V; (2004) https://doi.org/10.1117/12.559464
Event: Optical Science and Technology, the SPIE 49th Annual Meeting, 2004, Denver, Colorado, United States

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.

Citation Download Citation

Valeriy Gradetsky, Leonid Kravchuk, Maxim Kniazkov, Vladimir Solovtzov, Tamara V. Tulaikova, and M. Simakova "Fiber optical system for visualization of inner pipe defects by microrobot", Proc. SPIE 5523, Current Developments in Lens Design and Optical Engineering V, (14 October 2004); https://doi.org/10.1117/12.559464

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KEYWORDS

Robots

Control systems

Fiber optics

Electromagnetism

Optical fibers

Power supplies

Control systems design

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