Imperial College London
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ProfessorFerdinandoRodriguez y Baena

Faculty of Engineering, Department of Mechanical Engineering

Co-Director of Hamlyn Centre, Professor of Medical Robotics
 
 
 
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Contact

 

+44 (0)20 7594 7046f.rodriguez Website

 
 
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Location

 

B415CBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Blyth:2016:10.1109/AIM.2016.7576803,
author = {Blyth, WA and Barr, DRW and Rodriguez, Y Baena F},
doi = {10.1109/AIM.2016.7576803},
pages = {419--424},
publisher = {IEEE},
title = {A reduced actuation mecanum wheel platform for pipe inspection},
url = {http://dx.doi.org/10.1109/AIM.2016.7576803},
year = {2016}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This paper focuses on the design, development and assessment of a novel, 2 degrees-of-freedom magnetic pipe inspection robot. It consists of 4 mecanum wheels, with the diagonals functionally coupled and the system rotation constrained by the surface geometry, maintaining full translational mobility with reduced control and actuation requirements. The system uses positional encoding that is decoupled from the transmission system to overcome the main sources of positional/positioning errors when using mecanum wheels. The kinematic and dynamic models of the system are derived and integrated within the controller. The prototype robot is then tested and shown to follow a scan path at 20mm/s within ±1.5mm whilst correcting for gravitational drift and slip events.
AU  - Blyth,WA
AU  - Barr,DRW
AU  - Rodriguez,Y Baena F
DO  - 10.1109/AIM.2016.7576803
EP  - 424
PB  - IEEE
PY  - 2016///
SP  - 419
TI  - A reduced actuation mecanum wheel platform for pipe inspection
UR  - http://dx.doi.org/10.1109/AIM.2016.7576803
UR  - http://hdl.handle.net/10044/1/33739
ER  -
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