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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
Department空间自动化技术研究室
Conference Name13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Conference DateMay 31 - June 2, 2018
Conference PlaceWuhan, China
Source PublicationProceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
PublisherIEEE
Publication PlaceNew York
2018
Pages858-862
Indexed ByEI
EI Accession number20183005587370
Contribution Rank2
ISBN978-1-5386-3757-9
KeywordMini-Multi-module Crawler Robot Transmission mechanism Finite element analysis
AbstractIn 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22293
Collection空间自动化技术研究室
Corresponding AuthorYuan BB(袁兵兵); Song YF(宋屹峰)
Affiliation1.Shenzhen Power Supply Bureau Co., Ltd., Shenzhen, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
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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