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题名: Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment
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 ; fuzzy control ; torque control
刊名: CHINESE JOURNAL OF MECHANICAL ENGINEERING
ISSN号: 1000-9345
出版日期: 2015
卷号: 28, 期号:6, 页码:1213-1221
收录类别: SCI ; EI ; CSCD
产权排序: 1
项目资助者: National Natural Science Foundation of China [61273345]
摘要: Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes.
语种: 英语
WOS记录号: WOS:000364728500016
WOS标题词: Science & Technology ; Technology
类目[WOS]: Engineering, Mechanical
关键词[WOS]: MECHANISM
研究领域[WOS]: Engineering
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/17312
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. Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2015,28(6):1213-1221.
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文件名: Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment.pdf
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