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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)
Department机器人学研究室
Source PublicationScience China Technological Sciences
ISSN1674-7321
2016
Volume59Issue:2Pages:191-202
Indexed BySCI ; EI ; CSCD
EI Accession number20152400928487
WOS IDWOS:000371281000002
CSCD IDCSCD:5628953
Contribution Rank1
KeywordScrew Drive In-pipe Robot Axiomatic Design Tri-axial Differential Mechanism
AbstractA 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Multidisciplinary ; Materials Science, Multidisciplinary
WOS KeywordINSPECTION ; PIPELINES
WOS Research AreaEngineering ; Materials Science
Citation statistics
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16222
Collection机器人学研究室
Corresponding AuthorWang MH(王明辉)
Affiliation1.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
Recommended Citation
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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