Analysis on steering characteristics of crawler pipeline robot

被引：0
|
作者：
Geng L. [1 ]
Rao J. [1 ,2 ]
Lei J. [1 ,2 ]
机构：
[1] School of Mechatronic Engineering and Automation, Shanghai University, Shanghai
[2] Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai
来源：
High Technology Letters | 2023年 / 29卷 / 01期
基金：
中国国家自然科学基金;
关键词：
crawler pipeline robot; geometric constraint(GC); steering characteristics; steering constraint(SC);
D O I：
10.3772/j.issn.1006-6748.2023.01.007
中图分类号：
学科分类号：
摘要：
In order to improve the elbow passing performance and different diameter adaptability of pipeline robot, a supported crawler pipeline robot is designed, which adopts screw nut mechanism and hinge four-bar mechanism to adapt to the complex environment such as variable diameter pipeline and elbow. The steering characteristics passing through the elbow are studied, the kinematic of pipeline robot bending steering is established, the geometric constraint (GC) and steering constraint (SC) in the elbow are analyzed, and the steering experiment is conducted. The results show that the robot can pass through the elbow by the SC model. The SC model can reduce the motor current and energy consumption when the robot passes through the elbow. © 2023 Inst. of Scientific and Technical Information of China. All rights reserved.
引用
收藏
页码：60 / 67
页数：7
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