| 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
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| Department | 空间自动化技术研究室 |
| Conference Name | 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 |
| Conference Date | May 31 - June 2, 2018 |
| Conference Place | Wuhan, China |
| Source Publication | Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 |
| Publisher | IEEE |
| Publication Place | New York |
| 2018 | |
| Pages | 858-862 |
| Indexed By | EI |
| EI Accession number | 20183005587370 |
| Contribution Rank | 2 |
| ISBN | 978-1-5386-3757-9 |
| Keyword | Mini-Multi-module Crawler Robot Transmission mechanism Finite element analysis |
| Abstract | 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. |
| Language | 英语 |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/22293 |
| Collection | 空间自动化技术研究室 |
| Corresponding Author | Yuan BB(袁兵兵); Song YF(宋屹峰) |
| Affiliation | 1.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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| File Name/Size | DocType | Version | Access | License | ||
| Transmission optimiz（763KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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