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Transmission optimization design of mini-multi-module crawler robot
Pi, Haoshu1; Yuan BB(袁兵兵)2; Wang HG(王洪光)2; Song YF(宋屹峰)2; Jing FR(景凤仁)2; Liu, Guowei1; Zhu, Zhengguo1
作者部门空间自动化技术研究室
会议名称13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
会议日期May 31 - June 2, 2018
会议地点Wuhan, China
会议录名称Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
出版者IEEE
出版地New York
2018
页码858-862
收录类别EI
EI收录号20183005587370
产权排序2
ISBN号978-1-5386-3757-9
关键词Mini-Multi-module Crawler Robot Transmission mechanism Finite element analysis
摘要In this paper, for inspecting in the cable tunnel, we propose a Mini-Multi-Module Crawler Robot (MMCR) with four sides covered with tracks. MMCR can walk, turn and avoid obstacles after rollover. MMCR has two ways to overcome obstacles: lifting the front of the mobile section obstacle and direct obstacle crossing. For overcoming obstacles flexibly, the joints of MMCR are passive when the robot crosses the barrier directly. Crawlers are on all four sides and passive pulley axis adopt an innovative arrangement, which increases the robot's direct obstacle clearance height. The tandem four stage bevel gear drive the four driving pulleys respectively. Finally, finite element analysis of the main parts of the robot joint determines the strength of the part is sufficient.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22293
专题空间自动化技术研究室
通讯作者Yuan BB(袁兵兵); Song YF(宋屹峰)
作者单位1.Shenzhen Power Supply Bureau Co., Ltd., Shenzhen, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Pi, Haoshu,Yuan BB,Wang HG,et al. Transmission optimization design of mini-multi-module crawler robot[C]. New York:IEEE,2018:858-862.
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