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题名: Self-Rescue Mechanism for Screw Drive In-pipe Robots
作者: Li P(李鹏) ; Ma SG(马书根) ; Li B(李斌) ; Wang YC(王越超) ; Yunhui Liu
作者部门: 机器人学研究室
会议名称: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
会议日期: October 18-22, 2010
会议地点: Taipei, Taiwan
会议录: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2010
页码: 2843-2849
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-6674-0
摘要: This paper presents a self-rescue mechanism for a screw drive in-pipe robot, which only uses one DC motor. The robot has two working modes, Normal Working Mode and Self-rescue Mode. Under normal working mode, the robot propels itself in the pipe just as other classical screw drive robots. When the robot encounters the obstacle and gets jammed, the lock up mechanism and motion control mechanism of the robot are activated. Then, the robot changes from working mode to self-rescue mode and moves away in the reverse direction to avoid jamming in the pipe. The change of the working mode is determined by the characteristics of the mechanism. The proposed mechanism can be used as a safety protection method for the pipe robot. Experiments have been conducted to testify the proposed mechanism. Compared with those with screw drive mechanisms, robots with self-rescue mechanism are able to avoid jamming in the pipe.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8867
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
李鹏; 马书根; 李斌; 王越超; Yunhui Liu.Self-Rescue Mechanism for Screw Drive In-pipe Robots.见:IEEE .2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010),Piscataway, NJ, USA,2010,2843-2849
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