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Rapid design of a screw drive in-pipe robot based on parameterized simulation technology
Li, Te1,2; Liu K(刘阔)1; Liu HB(刘海波)1; Cui, Xuewen1; Li, B(李斌)2; Wang, YQ(王永青)1
Department机器人学研究室
Source PublicationSimulation
ISSN0037-5497
2019
Volume95Issue:7Pages:659-670
Indexed BySCI ; EI
EI Accession number20190406421303
WOS IDWOS:000470768300006
Contribution Rank1
Funding OrganizationNational Program on Key Basic Research Project of China ; Open Fund of State Key Laboratory of Robotics ; China Postdoctoral Science Foundation ; Fundamental Research Funds for the Central Universities
KeywordScrew drive in-pipe robot parameter design simulation
AbstractThe screw drive in-pipe robot is a type of effective intelligent equipment for inspecting pipeline failure. In-pipe robots have a wide range of design parameters due to varied pipe types and application conditions. Experiential or theoretical design means cannot ensure the validity and success rate, which leads to the increase in production cost and cycle. Therefore, in order to solve the rapid design problem of screw drive in-pipe robots, a parameterized simulation system based on ADAMS secondary development technology and a simple design strategy is proposed. Firstly, the motion principles of screw drive in-pipe robots are analyzed to establish a generalized design model. Then, the key parameters of the geometric structure are extracted and associated, which work as the input variables to design the robotic model. Then the general parameterized simulation system is established based on the CMD language of ADAMS simulation software. Finally, a simple design strategy is proposed and a design application case for pipeline diameter of 225 mm is studied. The results show that the parameterized simulation system can build and test varied screw drive in-pipe robot models quickly by only inputting some design parameters. The proposed design system and strategy can help realize the production of a screw drive in-pipe robot rapidly.
Language英语
WOS SubjectComputer Science, Interdisciplinary Applications ; Computer Science, Software Engineering
WOS KeywordINSPECTION
WOS Research AreaComputer Science
Funding ProjectNational Program on Key Basic Research Project of China[2014CB046604] ; Open Fund of State Key Laboratory of Robotics[2017-O17] ; China Postdoctoral Science Foundation[2016M601300] ; Fundamental Research Funds for the Central Universities[DUT17JC16] ; National Program on Key Basic Research Project of China[2014CB046604] ; Open Fund of State Key Laboratory of Robotics[2017-O17] ; China Postdoctoral Science Foundation[2016M601300] ; Fundamental Research Funds for the Central Universities[DUT17JC16]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24111
Collection机器人学研究室
Corresponding AuthorLiu K(刘阔)
Affiliation1.Key Laboratory for Precision & Non-traditional Machining of Ministry of Education, Dalian University of Technology, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
Recommended Citation
GB/T 7714
Li, Te,Liu K,Liu HB,et al. Rapid design of a screw drive in-pipe robot based on parameterized simulation technology[J]. Simulation,2019,95(7):659-670.
APA Li, Te,Liu K,Liu HB,Cui, Xuewen,Li, B,&Wang, YQ.(2019).Rapid design of a screw drive in-pipe robot based on parameterized simulation technology.Simulation,95(7),659-670.
MLA Li, Te,et al."Rapid design of a screw drive in-pipe robot based on parameterized simulation technology".Simulation 95.7(2019):659-670.
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