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Alternative TitleOptimization design of obstacle crossing for screw drive in-pipe robot
李特1,2; 张嘉礼1; 李斌2; 王永青1
Source Publication大连理工大学学报
Indexed ByCSCD
Contribution Rank1
Funding Organization中国博士后科学基金资助项目(2016M601300) ; 机器人学国家重点实验室开放基金资助项目(2017-O07)
Keyword管内机器人 螺旋驱动 越障 粒子群


Other Abstract

Circinate boss or groove obstacles are easily formed in the current connection process of the pipes. Therefore, it is necessary for the in-pipe robot to have obstacle crossing ability. Compared to obstacle crossing on land, the closed and confining in-pipe environment make the obstacle crossing more complex. In consideration of the screw drive in-pipe robot, the quasi-static obstacle crossing models for the robot in the circinate boss and groove obstacles environments are constructed respectively, including the screw wheels crossing and the driven wheels crossing, to analyze the obstacle crossing movement quantificationally and obtain the optimal performance under constrains. Then the comprehensive obstacle crossing performance mathematic model is built under the constraints of traction force, motor torque and so on. Through exponential type adaptive inertia weighted particle swarm algorithm, the optimal parameter vector is solved. The proposed comprehensive obstacle crossing performance optimizing method is applied to the design of in-pipe robot with differential screw roller angles. The experiment results prove that the proposed method is valid. The optimized robot can pass through the circinate boss obstacle of 2mm height in the stainless steel pipe, and the circinate groove obstacle of 2mm height in the PVC pipe.

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Document Type期刊论文
Corresponding Author李特
Recommended Citation
GB/T 7714
李特,张嘉礼,李斌,等. 螺旋驱动式管内机器人越障性能优化设计[J]. 大连理工大学学报,2018,58(4):348-356.
APA 李特,张嘉礼,李斌,&王永青.(2018).螺旋驱动式管内机器人越障性能优化设计.大连理工大学学报,58(4),348-356.
MLA 李特,et al."螺旋驱动式管内机器人越障性能优化设计".大连理工大学学报 58.4(2018):348-356.
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