A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots

A 2 degrees of freedom module for pipe inspection modular micro-robots based on servomotors is presented in this article. A mechanical and electrical description of the module is also given, including the kinematics and the close control loop design to detect obstacles (walls). The main configurations in which it can be used are described as well: snake-like robots and chain multi-configurable modular robots. The different pipes and elbows it can move on are also shown

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