Design and locomotion control strategy for a steerable in-pipe robot

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	Design and locomotion control strategy for a steerable in-pipe robot
	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
会议录名称	2015 IEEE International Conference on Mechatronics and Automation (ICMA)
出版者	IEEE
出版地	Piscataway, NJ, USA
	2015
页码	1228-1233
收录类别	EI ; CPCI（ISTP）
EI收录号	20160501860506
WOS记录号	WOS:000380447600216
产权排序	1
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
引用统计
文献类型	会议论文
条目标识符	http://ir.sia.cn/handle/173321/17462
专题	机器人学研究室
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, 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. Design and locomotion control strategy for a steerable in-pipe robot[C]. Piscataway, NJ, USA:IEEE,2015:1228-1233.

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