Development of an in-pipe Robot with differential screw angles for curved pipes and vertical straight pipes

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Development of an in-pipe Robot with differential screw angles for curved pipes and vertical straight pipes
	Li T(李特); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Li ZQ(李志强); Wang YQ(王永青)
刊名	Journal of Mechanisms and Robotics
	2017
卷号	9 期号:5 页码:1-11
关键词	screw drive in-pipe robot parameter design
ISSN号	1942-4302
通讯作者	Li T(李特)
产权排序	1
中文摘要	The in-pipe robots based on screw drive mechanism are very promising in the aspects of pipe inspecting and maintaining. The novel design of an in-pipe robot with differential screw angles is presented for the curved pipes and vertical straight pipes. The robot is mainly composed of the screw drive mechanism, adaptive linkage mechanism, and the elastic arm mechanism. The alternative adjusting abilities of the mobile velocity and traction, and the adaptive steering ability in curved pipes, are achieved by the special designs. A parameter design approach in consideration of the climbing and steering abilities is proposed in detail for the springs and length of the elastic arms. The results are applied to the prototype design of the robot. In several groups of experiments, the proposed robot is competent to pass through curved pipes and vertical straight pipes. The results prove that the proposed mechanism and parameter design approach are both valid.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Mechanical ; Robotics
研究领域[WOS]	Engineering ; Robotics
关键词[WOS]	INSPECTION
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000414598300014
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/20980]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Key Laboratory for Precision and Non-traditional Machining of Ministry of Education, School of Mechanical Engineering, Dalian University of Technology, Dalian, 116024, China 3.Department of Robotics, Ritsumeikan University, Shiga-ken, 525-8577, Japan
推荐引用方式 GB/T 7714	Li T,Ma SG,Li B,et al. Development of an in-pipe Robot with differential screw angles for curved pipes and vertical straight pipes[J]. Journal of Mechanisms and Robotics,2017,9(5):1-11.
APA	Li T,Ma SG,Li B,Wang MH,Li ZQ,&Wang YQ.(2017).Development of an in-pipe Robot with differential screw angles for curved pipes and vertical straight pipes.Journal of Mechanisms and Robotics,9(5),1-11.
MLA	Li T,et al."Development of an in-pipe Robot with differential screw angles for curved pipes and vertical straight pipes".Journal of Mechanisms and Robotics 9.5(2017):1-11.