Kinematics Modeling and Simulation Analysis of Wheeled Mobile Robot in Round Pipe

被引：0
|
作者：
Zhao, Yuxia [1 ,2 ]
Hua, Yiqing [1 ]
Di, Jiejian [1 ]
机构：
[1] North China Univ Technol, Dept Mech & Mat Engn, Beijing 100144, Peoples R China
[2] Univ Sci & Technol Beijing, Sch Mech Engn, Beijing, Peoples R China
来源：
PROCEEDINGS OF THE 2016 4TH INTERNATIONAL CONFERENCE ON SENSORS, MECHATRONICS AND AUTOMATION (ICSMA 2016) | 2016年 / 136卷
关键词：
Wheeled motive robot; ADAMS; Kinematics modeling; Simulation analysis; VEHICLE;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Micro in-pipe robot is a kind of mobile robot, which is suitable for small caliber pipe. The mobile mechanism is one of the important research contents in the field of robot research. ADAMS software is used to simulate the 3D solid motion of the six wheeled robot, and the kinematic model of the constrained micro robot in pipeline is established. The paper discussed the 3D solid motive simulation of six-wheeled robot, and the simulation result provides an useful method to study the shape and size of robot workspace. Through the centroid of the displacement, velocity and acceleration curves, spring force and driving torque curve analysis, it is proved that the movement of the six wheeled robot in the straight pipe has the basic motion stability and feasibility.
引用
收藏
页码：544 / 550
页数：7
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