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题名: Design and locomotion control strategy for a steerable in-pipe robot
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
会议名称: 2015 IEEE International Conference on Mechatronics and Automation (ICMA)
会议日期: August 2-5, 2015
会议地点: Beijing
会议录: 2015 IEEE International Conference on Mechatronics and Automation (ICMA)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1228-1233
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-7098-8
关键词: Screw drive ; In-pipe robot ; Control strategy ; Steering mechanism
摘要: A steerable in-pipe robot based on screw drive is proposed for curved pipes and T-pipes. The robot with only two motors is composed of the drive mechanism and steering mechanism. The design principles of the robot are analyzed based on the kinematic and statics models. The spring parameters of the elastic arms are selected in consideration of the stability of steering motion. Then the steering locomotion control strategy in curved and T-pipes is given based on a simplified planar connecting rod model. In order to select a proper posture to turn, a posture adjustment strategy making full use of the pipe constraint is also proposed. The simulation results show that the proposed robot can pass through the curved pipes and T-pipes, and adjust the posture by the proposed control strategies.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380447600216
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17462
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Li T,Ma SG,Li B,et al. Design and locomotion control strategy for a steerable in-pipe robot[C]. 见:2015 IEEE International Conference on Mechatronics and Automation (ICMA). Beijing. August 2-5, 2015.
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文件名: Design and locomotion control strategy for a steerable in-pipe robot.pdf
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