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Alternative TitleDesign and motion analysis of differential-drive adaptive in-pipe robot
王辰忠; 王挺; 刘君; 张朝龙; 胡绍刚
Source Publication机电工程
Contribution Rank2
Funding Organization机器人学国家重点实验室自主研究课题(Y4A120A101)
Keyword差动机构 管道机器人 变径机构 仿真分析
Other AbstractAiming at the problems of relative sliding between the robot’s driving wheel and the tube wall and the adaptation of the robot’s body to the pipe diameter,the pipe robot with the characters of autonomous differential motion and adaptive variable diameter was designed by adopting the single motor to drive. The transmission characteristics of the differential mechanism were analyzed,the force equation of working state for the variable diameter mechanism of pipe robot was theoretically deduced,and the mechanical relation between the driving wheels and pipe wall in robot's operation was obtained. The movement pose model of robot in pipe was built,and the relationship between each variable in the model under the condition of different pose was studied. The virtual sample models of robot operating in the bend pipe and variable diameter pipe were built respectively. Through the simulation analysis,robot's characters of autonomous differential motion and adaptive variable diameter were validated. The results indicate that the pipeline robot can pass through bends without interference,in reducing tube can also effectively realize the independent variable diameter,and show a good driving characteristics.
Document Type期刊论文
Corresponding Author王挺
Recommended Citation
GB/T 7714
王辰忠,王挺,刘君,等. 差动式自适应管道机器人的设计与运动分析研究[J]. 机电工程,2016,33(4):395-400.
APA 王辰忠,王挺,刘君,张朝龙,&胡绍刚.(2016).差动式自适应管道机器人的设计与运动分析研究.机电工程,33(4),395-400.
MLA 王辰忠,et al."差动式自适应管道机器人的设计与运动分析研究".机电工程 33.4(2016):395-400.
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