Design and locomotion control strategy for a steerable in-pipe robot

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	Design and locomotion control strategy for a steerable in-pipe robot
	Li T(李特); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
	2015
会议名称	2015 IEEE International Conference on Mechatronics and Automation (ICMA)
会议日期	August 2-5, 2015
会议地点	Beijing
关键词	Screw drive In-pipe robot Control strategy Steering mechanism
页码	1228-1233
中文摘要	A steerable in-pipe robot based on screw drive is proposed for curved pipes and T-pipes. The robot with only two motors is composed of the drive mechanism and steering mechanism. The design principles of the robot are analyzed based on the kinematic and statics models. The spring parameters of the elastic arms are selected in consideration of the stability of steering motion. Then the steering locomotion control strategy in curved and T-pipes is given based on a simplified planar connecting rod model. In order to select a proper posture to turn, a posture adjustment strategy making full use of the pipe constraint is also proposed. The simulation results show that the proposed robot can pass through the curved pipes and T-pipes, and adjust the posture by the proposed control strategies.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2015 IEEE International Conference on Mechatronics and Automation (ICMA)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4799-7098-8
WOS记录号	WOS:000380447600216
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17462]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Li T,Ma SG,Li B,et al. Design and locomotion control strategy for a steerable in-pipe robot[C]. 见:2015 IEEE International Conference on Mechatronics and Automation (ICMA). Beijing. August 2-5, 2015.