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Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes
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
发表期刊Science China Technological Sciences
ISSN1674-7321
2016
卷号59期号:2页码:191-202
收录类别SCI ; EI ; CSCD
EI收录号20152400928487
WOS记录号WOS:000371281000002
CSCD记录号CSCD:5628953
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标题词Science & Technology ; Technology
WOS类目Engineering, Multidisciplinary ; Materials Science, Multidisciplinary
关键词[WOS]INSPECTION ; PIPELINES
WOS研究方向Engineering ; Materials Science
引用统计
被引频次:1[CSCD]   [CSCD记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/16222
专题机器人学研究室
通讯作者Wang MH(王明辉)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Robotics, Ritsumeikan University, Shiga-ken, Japan
推荐引用方式
GB/T 7714
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.
APA Li T,Ma SG,Li B,Wang MH,&Wang YC.(2016).Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes.Science China Technological Sciences,59(2),191-202.
MLA Li T,et al."Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes".Science China Technological Sciences 59.2(2016):191-202.
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