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Alternative TitleDesign and motion mechanism of a screw drive in-pipe robot with adaptability to in-pipe environment
李特; 马书根; 李斌; 王明辉; 王越超
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20162202444129
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61273345)
Keyword螺旋驱动 管内机器人 自适应联动机构 运动机理
Other AbstractIn order to improve the adaptability of the screw drive in-pipe robot in straight and curved pipes with varied curvature radius, the problem of adaptive movement mechanism is researched. Considering the properties of the pipe environment, straight movement mechanism, steering movement mechanism and load regulation mechanism are proposed based on the motion and force models of the robot. The research reveals that environment adaptability of the screw drive in-pipe robot can be obtained by modulating inclining angles of the rollers. The problems of motion interference and roller slipping can be also solved to some extent. A screw drive in-pipe robot with an adaptive linkage mechanism is designed based on the adaptive movement mechanism. The adaptive linkage mechanism can obtain the pipe environment information through eccentric arms and change the inclining angles of the robot's rollers differentially. The dynamic simulation results show that the proposed robot can adaptively pass through the straight and curved pipes with varied curvature radius, and the robot can also change the maximum load ability by the adaptive linkage mechanism. © 2016 Journal of Mechanical Engineering.
Citation statistics
Cited Times:5[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author王明辉
Recommended Citation
GB/T 7714
李特,马书根,李斌,等. 螺旋驱动管内机器人自适应运动机理与机构设计[J]. 机械工程学报,2016,52(9):9-17.
APA 李特,马书根,李斌,王明辉,&王越超.(2016).螺旋驱动管内机器人自适应运动机理与机构设计.机械工程学报,52(9),9-17.
MLA 李特,et al."螺旋驱动管内机器人自适应运动机理与机构设计".机械工程学报 52.9(2016):9-17.
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