Research of the Driving Characteristic of Differential-drive Adaptive Pipe Robot
Aiming at solving the problems of relative sliding between the robot driving wheel and the tube wall and the adaptation of the robot body to the pipe diameter,the pipe robot with the characters of autonomous differential motion and adaptive variable diameter is designed by adopting the single motor...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2017-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.034 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547480938840064 |
|---|---|
| author | Wang Chenzhong Wang Ting Liu Jun Zhang Zhaolong Hu Shaogang |
| author_facet | Wang Chenzhong Wang Ting Liu Jun Zhang Zhaolong Hu Shaogang |
| author_sort | Wang Chenzhong |
| collection | DOAJ |
| description | Aiming at solving the problems of relative sliding between the robot driving wheel and the tube wall and the adaptation of the robot body to the pipe diameter,the pipe robot with the characters of autonomous differential motion and adaptive variable diameter is designed by adopting the single motor to drive. The transmission characteristics of the differential mechanism are analyzed,the force equation of working state for the variable diameter mechanism of pipe robot is theoretically deduced,and the mechanical relation between the driving wheels and pipe wall in robot operation is obtained. The movement model of robot in pipe is built,and the relationship between each variable in the model under the condition of different pose is analyzed. The virtual prototype model of robot operating in combined pipe is built through the simulation analysis. The robot characters of autonomous differential motion is validated. The results indicate that the pipeline robot can through bends without interference,and show a good driving characteristics. |
| format | Article |
| id | doaj-art-4cd2b3f54825412b8019cd8181a18dfc |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-4cd2b3f54825412b8019cd8181a18dfc2025-01-10T14:39:12ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014116016529928354Research of the Driving Characteristic of Differential-drive Adaptive Pipe RobotWang ChenzhongWang TingLiu JunZhang ZhaolongHu ShaogangAiming at solving the problems of relative sliding between the robot driving wheel and the tube wall and the adaptation of the robot body to the pipe diameter,the pipe robot with the characters of autonomous differential motion and adaptive variable diameter is designed by adopting the single motor to drive. The transmission characteristics of the differential mechanism are analyzed,the force equation of working state for the variable diameter mechanism of pipe robot is theoretically deduced,and the mechanical relation between the driving wheels and pipe wall in robot operation is obtained. The movement model of robot in pipe is built,and the relationship between each variable in the model under the condition of different pose is analyzed. The virtual prototype model of robot operating in combined pipe is built through the simulation analysis. The robot characters of autonomous differential motion is validated. The results indicate that the pipeline robot can through bends without interference,and show a good driving characteristics.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.034Differential mechanismPipe robotVariable diameter mechanismMovement position |
| spellingShingle | Wang Chenzhong Wang Ting Liu Jun Zhang Zhaolong Hu Shaogang Research of the Driving Characteristic of Differential-drive Adaptive Pipe Robot Jixie chuandong Differential mechanism Pipe robot Variable diameter mechanism Movement position |
| title | Research of the Driving Characteristic of Differential-drive Adaptive Pipe Robot |
| title_full | Research of the Driving Characteristic of Differential-drive Adaptive Pipe Robot |
| title_fullStr | Research of the Driving Characteristic of Differential-drive Adaptive Pipe Robot |
| title_full_unstemmed | Research of the Driving Characteristic of Differential-drive Adaptive Pipe Robot |
| title_short | Research of the Driving Characteristic of Differential-drive Adaptive Pipe Robot |
| title_sort | research of the driving characteristic of differential drive adaptive pipe robot |
| topic | Differential mechanism Pipe robot Variable diameter mechanism Movement position |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.01.034 |
| work_keys_str_mv | AT wangchenzhong researchofthedrivingcharacteristicofdifferentialdriveadaptivepiperobot AT wangting researchofthedrivingcharacteristicofdifferentialdriveadaptivepiperobot AT liujun researchofthedrivingcharacteristicofdifferentialdriveadaptivepiperobot AT zhangzhaolong researchofthedrivingcharacteristicofdifferentialdriveadaptivepiperobot AT hushaogang researchofthedrivingcharacteristicofdifferentialdriveadaptivepiperobot |