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Effect of High Pressure Water Jet Cleaning Device on the Motion Stability of an In-pipe Cleaning Robot
Feng GH(冯冠华); Li ZG(李智刚); He Z(何震); Feng YB(冯迎宾); Xue T(薛涛); Liu KZ(刘开周)
作者部门水下机器人研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码1040-1045
收录类别EI ; CPCI(ISTP)
EI收录号20171403535144
WOS记录号WOS:000405724600175
产权排序1
ISBN号978-1-5090-4363-7
摘要The in-pipe cleaning robot (IPCR) is a new equipment for pipelines cleaning. However, most existing in-pipe robots are used to inspection and simple maintenance, etc. They cannot effectively complete the pipelines cleaning works, especially large diameter pipelines. This paper proposes a novel wheeled and wall-pressing type IPCR equipped with new high pressure water jet cleaning device. The whole mechanisms of the proposed IPCR are designed and a novel preload mechanism is applied to guarantee the IPCR reach to the target operation distance. Based on the multi-body theory, the contact mechanisms model is built. The motion equation and differential-algebraic equations of the IPCR system are obtained respectively. To verify the effect of the high pressure water jet cleaning jet on the motion stability of the IPCR, the virtual simulation platform is established in software RecurDyn and some simulation experiments are carried out. The results show that under the condition of sufficient preload force, the high pressure water jet cleaning device starts after the main body runs stable, which can guarantee the global motion stability.
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/173321/19686
专题水下机器人研究室
通讯作者Feng GH(冯冠华)
作者单位1.Mechanical Engineering College, Shenyang Ligong University, Shenyang, CO, 110159, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, CO, 110016, China
3.Automation and Electrical Engineering College, Shen Yang Ligong University, Shenyang, CO, 110159, China
推荐引用方式
GB/T 7714
Feng GH,Li ZG,He Z,et al. Effect of High Pressure Water Jet Cleaning Device on the Motion Stability of an In-pipe Cleaning Robot[C]. New York:IEEE,2016:1040-1045.
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