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	Motion Performance Analysis of Wheeled In-pipe Robots Based on ABAQUS
	Wang Hengzhi; Song Zhangjun; Zhang Jianwei
	2013
会议名称	2013 IEEE International Conference on Information and Automation, ICIA 2013
会议地点	Yinchuan, China
英文摘要	Wheeled in-pipe robots have been widely used in pipelines inspection and exploring because of simple structure, steady performance and consuming less energy. However when wheeled mobile robots run in muddy in-pipe environment they often can't be control to move accurately and continuously mainly because the ground cannot provide adequate adhesion. In order to improve the movement performance of the robot in this environment we establish a model based on terramechanics. With this model further research including motion performance of wheeled in-pipe robots has been conducted in muddyin-pipe environment in this paper. The model of wheel-terrain interaction is established with the finite element software ABAQUS. With this model we analyze what and how the factors which affect the adhesion. The actual experimental results show the model and simulated analysis is useful and helpful to mechanical design and control strategy design for wheeled in-pipe robots.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/4574]
专题	深圳先进技术研究院_集成所
作者单位	2013
推荐引用方式 GB/T 7714	Wang Hengzhi,Song Zhangjun,Zhang Jianwei. Motion Performance Analysis of Wheeled In-pipe Robots Based on ABAQUS[C]. 见:2013 IEEE International Conference on Information and Automation, ICIA 2013. Yinchuan, China.

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