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Alternative TitleResearch of the Driving Characteristic of Differential - drive Adaptive Pipe Robot
王辰忠; 王挺; 刘君; 张朝龙; 胡绍刚
Source Publication机械传动
Indexed ByCSCD
Contribution Rank1
Keyword差动机构 管道机器人 变径机构 运动位姿
Other AbstractAiming at solving the problems of relative sliding between the robot driving wheel and the tube wall and the adaptation of the robot body to the pipe diameter,the pipe robot with the characters of autonomous differential motion and adaptive variable diameter is designed by adopting the single motor to drive. The transmission characteristics of the differential mechanism are analyzed,the force equation of working state for the variable diameter mechanism of pipe robot is theoretically deduced,and the mechanical relation between the driving wheels and pipe wall in robot operation is obtained. The movement model of robot in pipe is built,and the relationship between each variable in the model under the condition of different pose is analyzed. The virtual prototype model of robot operating in combined pipe is built through the simulation analysis. The robot characters of autonomous differential motion is validated. The results indicate that the pipeline robot can through bends without interference,and show a good driving characteristics.
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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驱动特性研究[J]. 机械传动,2017,41(1):160-165.
APA 王辰忠,王挺,刘君,张朝龙,&胡绍刚.(2017).差动式自适应管道机器人的驱动特性研究.机械传动,41(1),160-165.
MLA 王辰忠,et al."差动式自适应管道机器人的驱动特性研究".机械传动 41.1(2017):160-165.
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