Rapid design of a screw drive in-pipe robot based on parameterized simulation technology

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	Rapid design of a screw drive in-pipe robot based on parameterized simulation technology
	Liu HB(刘海波)2; Li, Te1,2 ; Liu K(刘阔)2; Cui, Xuewen 2; Li, B(李斌)1; Wang, YQ(王永青)2
刊名	Simulation
	2018
页码	1-12
关键词	Screw drive in-pipe robot parameter design simulation
ISSN号	0037-5497
产权排序	1
英文摘要	The 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.
语种	英语
资助机构	National Program on Key Basic Research Project of China (Grant No. 2014CB046604) ; Open Fund of State Key Laboratory of Robotics (Grant No. 2017-O17) ; China Postdoctoral Science Foundation Funded Project (Grant No. 2016M601300) ; Fundamental Research Funds for the Central Universities (Grant No. DUT17JC16)
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/24111]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Liu K(刘阔)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China 2.Key Laboratory for Precision & Non-traditional Machining of Ministry of Education, Dalian University of Technology, China
推荐引用方式 GB/T 7714	Liu HB,Li, Te,Liu K,et al. Rapid design of a screw drive in-pipe robot based on parameterized simulation technology[J]. Simulation,2018:1-12.
APA	Liu HB,Li, Te,Liu K,Cui, Xuewen,Li, B,&Wang, YQ.(2018).Rapid design of a screw drive in-pipe robot based on parameterized simulation technology.Simulation,1-12.
MLA	Liu HB,et al."Rapid design of a screw drive in-pipe robot based on parameterized simulation technology".Simulation (2018):1-12.