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Compliant Robotic Device

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 The robotic device consists of the mobile robot and the compliant device. The mobile robot should be able to move along general curved pipes used in an atomic power plant to do non-destructive examination. And the compliant device with modified Hooke's joint mechanism enables the ultrasonic sensor(probe) to contact the surface of the curved pipe at a normal direction with a contact force of over 30gf. The tasks of the remotely controlled robotic device are to move along  the curved pipes and to maintain the normal contact force to the surface of the curved pipes when non-destructive examination is performed.

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