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题名: Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes
作者: Li T(李特); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
作者部门: 机器人学研究室
关键词: screw drive ; in-pipe robot ; axiomatic design ; tri-axial differential mechanism
刊名: Science China Technological Sciences
ISSN号: 1674-7321
出版日期: 2016
卷号: 59, 期号:2, 页码:191-202
收录类别: SCI ; EI ; CSCD
产权排序: 1
摘要: A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design (AD) theory is applied to evaluate and analyze the existing designs. Then an uncoupled concept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the proposed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the motion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots that have inclining-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping.
语种: 英语
WOS记录号: WOS:000371281000002
WOS标题词: Science & Technology ; Technology
类目[WOS]: Engineering, Multidisciplinary ; Materials Science, Multidisciplinary
关键词[WOS]: INSPECTION ; PIPELINES
研究领域[WOS]: Engineering ; Materials Science
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/16222
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Li T,Ma SG,Li B,et al. Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes[J]. Science China Technological Sciences,2016,59(2):191-202.
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文件名: Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes.pdf
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