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Development of an in-pipe Robot with differential screw angles for curved pipes and vertical straight pipes
Li T(李特); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Li ZQ(李志强); Wang YQ(王永青)
作者部门机器人学研究室
关键词Screw Drive In-pipe Robot Parameter Design
发表期刊Journal of Mechanisms and Robotics
ISSN1942-4302
2017
卷号9期号:5页码:1-11
收录类别SCI ; EI
EI收录号20173604131653
WOS记录号WOS:000414598300014
产权排序1
资助机构China Postdoctoral Science Foundation (Grant No. 2016M601300) ; Science and Technology Innovation Major Project of Liaoning Province (Grant No. 2015106006) ; National Natural Science Foundation of China (Grant No. 61273345)
摘要The in-pipe robots based on screw drive mechanism are very promising in the aspects of pipe inspecting and maintaining. The novel design of an in-pipe robot with differential screw angles is presented for the curved pipes and vertical straight pipes. The robot is mainly composed of the screw drive mechanism, adaptive linkage mechanism, and the elastic arm mechanism. The alternative adjusting abilities of the mobile velocity and traction, and the adaptive steering ability in curved pipes, are achieved by the special designs. A parameter design approach in consideration of the climbing and steering abilities is proposed in detail for the springs and length of the elastic arms. The results are applied to the prototype design of the robot. In several groups of experiments, the proposed robot is competent to pass through curved pipes and vertical straight pipes. The results prove that the proposed mechanism and parameter design approach are both valid.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Mechanical ; Robotics
关键词[WOS]INSPECTION
WOS研究方向Engineering ; Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20980
专题机器人学研究室
通讯作者Li T(李特)
作者单位1.Key Laboratory for Precision and Non-traditional Machining of Ministry of Education, School of Mechanical Engineering, Dalian University of Technology, Dalian, 116024, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Department of Robotics, Ritsumeikan University, Shiga-ken, 525-8577, Japan
推荐引用方式
GB/T 7714
Li T,Ma SG,Li B,et al. Development of an in-pipe Robot with differential screw angles for curved pipes and vertical straight pipes[J]. Journal of Mechanisms and Robotics,2017,9(5):1-11.
APA Li T,Ma SG,Li B,Wang MH,Li ZQ,&Wang YQ.(2017).Development of an in-pipe Robot with differential screw angles for curved pipes and vertical straight pipes.Journal of Mechanisms and Robotics,9(5),1-11.
MLA Li T,et al."Development of an in-pipe Robot with differential screw angles for curved pipes and vertical straight pipes".Journal of Mechanisms and Robotics 9.5(2017):1-11.
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