Development of an inchworm in-pipe robot based on the cam self-locked principle

被引：0
|
作者：
Qiao J. [1 ]
Shang J. [1 ]
Chen X. [1 ]
Luo Z. [1 ]
机构：
[1] School of Mechatronics Engineering and Automation, National University of Defense Technology
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2010年 / 46卷 / 11期
关键词：
Pipeline diameter variation; Pull; Self-locked principle; Telescopic in-pipe robot;
D O I：
10.3901/JME.2010.11.083
中图分类号：
学科分类号：
摘要：
The telescopic in-pipe robot based on the cam self-locked principle is developed to increase the pull of telescopic robots applied in the pipeline inspection. Its pull is beyond the limit of a constant friction, and can always increase with the engineering requirement if the power permits. A set of design method is worked out, including the relationship among parameters of the unilateral locker mechanism, the profile of the cam which can adapt to pipe diameter variation automatically, and the responding time of the locomotive system. A prototype based on the method is developed, and its performance experiments are presented. The research results help to improve the adaptability and pull ability, and perfect the design theory of telescopic in-pipe robots based on self-locked principle. ©2010 Journal of Mechanical Engineering.
引用
收藏
页码：83 / 88
页数：5
相关论文
共 10 条
  • [1] Li P., Ma S., Li B., Et al., Design and analysis of an in-pipe robot with adaptability to pipe diameters, Journal of Mechanical Engineering, 45, 1, pp. 154-161, (2009)
  • [2] Zhang Y., Jia Z., Ding F., Et al., Analysis on moving characteristics of a wireless micro robot driven through outside magnetic field, Journal of Mechanical Engineering, 39, 6, pp. 135-139, (2003)
  • [3] Wang C., Ding F., Zhang Y., Et al., Giant magnetostrictive actuator in servo valve and micro pipe robot, Chiness Journal of Mechanical Engineering, 18, 1, pp. 10-13, (2005)
  • [4] Fu Y., Li X., Liang Z., Design of guiding robot for active catheter based on shape memory alloy, Journal of Mechanical Engineering, 44, 9, pp. 76-82, (2008)
  • [5] Lim J., Park H., Moon S., Et al., Pneumatic robot based on inchworm motion for small diameter pipe inspection, International Conference on Robotics and Biomimetics, pp. 330-335, (2007)
  • [6] Liu P., Wen Z., Sun L., An in-pipe micro robot actuated by piezoelectric bimorphs, Chinese Science Bullet, 54, pp. 2134-2142, (2009)
  • [7] Yu H., Ma P., Cao C., A novel in-pipe worming robot based on SMA, International Conference on Mechatronics & Automation, pp. 923-927, (2005)
  • [8] Lim J., Park H., An J., Et al., One pneumatic line based inchworm-like micro robot for half-inch pipe inspection, Mechatronics, 18, 7, pp. 315-322, (2008)
  • [9] Yu D., Zheng G., Sun X., A type of crawling mechanism in pipe, Robot, 16, 5, pp. 303-306, (1994)
  • [10] Kawaguchi Y., Yoshida I., Kurumatani H., Et al., Internal pipe inspection robot, International Conference on Robotics and Automation, pp. 857-862, (1995)
1