Design of Spring Parameters for a Screw Drive In-Pipe Robot Based on Energy Consumption Model

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	Design of Spring Parameters for a Screw Drive In-Pipe Robot Based on Energy Consumption Model
	Li T(李特); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
	2014
会议名称	11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期	June 29 - July 4, 2014
会议地点	Shenyang, China
关键词	In-pipe robot Screw drive Slipping Energy consumption Spring parameter
页码	3292-3297
中文摘要	The wall pressing arms of a screw drive in-pipe　robot are usually designed by using springs to be elastic. This is　because pipe-diameter adaptability and climbing obstacle　capability can be enhanced by the elastic arms. However, the　axis of the robot deviates from that of the pipe exactly because of　elasticity and gravity. Some extra energy is consumed wastefully　due to wheel slipping and spring deformation. In order to　improve energy utilization, this paper focuses on the design of　spring parameters including stiffness and preload force. Firstly,　kinematics model and static model are proposed in consideration　of wheel slipping and spring deformation. Secondly, the energy　consumption relation with spring parameters is presented and　analyzed numerically based on the robot models. Finally, a　parameter design strategy is proposed by which the robot can be　energy saving and climb up in the vertical pipe.
收录类别	EI
产权排序	1
会议录	Proceeding of the 11th World Congress on Intelligent Control and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4799-5825-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15385]
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 of Spring Parameters for a Screw Drive In-Pipe Robot Based on Energy Consumption Model[C]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014.