A novel mobile robot for finned tubes inspection

  • Authors:

  • Yanming Li;Peisun Ma;Changjun Qin;Jun Xu;Xueguan Gao

  • Affiliations:

  • The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China) yanm-lee@sjtu.edu.en;The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China);The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China);The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China);The Robot Research Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)

  • Venue:
  • Robotica
  • Year:
  • 2003

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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.