Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism
The design of the existing pipe-climbing robot often focused on adaptability，obstacle climbing ability and load capacity，which cannot meet the comprehensive requirements of all aspects of performance in the actual operation. Therefore，based on the bionics theory and the metamorphic theory，a new kind...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-11-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.015 |
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| _version_ | 1841547370834165760 |
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| author | Zihan Jin Yu Hou Qiang Wang Wei Sun |
| author_facet | Zihan Jin Yu Hou Qiang Wang Wei Sun |
| author_sort | Zihan Jin |
| collection | DOAJ |
| description | The design of the existing pipe-climbing robot often focused on adaptability，obstacle climbing ability and load capacity，which cannot meet the comprehensive requirements of all aspects of performance in the actual operation. Therefore，based on the bionics theory and the metamorphic theory，a new kind of pipe-climbing robot is designed，which has the performance of adaptability，obstacle climbing ability and load capacity. The static models of the metamorphic grippers and the robot are established，and the gripper force and the friction force of the foot are analyzed under three conditions. The gait of climb in the vertical pipe robot climbing and flip movement is designed，and based on the Adams，pipe-climbing robot kinematics and dynamics simulation are analyzed. The clamping force and the friction force in the process of climbing pipe change rule is obtained. And the stability of the robot in the line movement is realized. Therefore the correctness of the structure design and mechanics model of the robot is verified. |
| format | Article |
| id | doaj-art-d6c4bd39e50f4d84b4e7faa8f37dd3f8 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-d6c4bd39e50f4d84b4e7faa8f37dd3f82025-01-10T14:47:29ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-11-0145929820727700Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic MechanismZihan JinYu HouQiang WangWei SunThe design of the existing pipe-climbing robot often focused on adaptability，obstacle climbing ability and load capacity，which cannot meet the comprehensive requirements of all aspects of performance in the actual operation. Therefore，based on the bionics theory and the metamorphic theory，a new kind of pipe-climbing robot is designed，which has the performance of adaptability，obstacle climbing ability and load capacity. The static models of the metamorphic grippers and the robot are established，and the gripper force and the friction force of the foot are analyzed under three conditions. The gait of climb in the vertical pipe robot climbing and flip movement is designed，and based on the Adams，pipe-climbing robot kinematics and dynamics simulation are analyzed. The clamping force and the friction force in the process of climbing pipe change rule is obtained. And the stability of the robot in the line movement is realized. Therefore the correctness of the structure design and mechanics model of the robot is verified.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.015Metamorphic gripperPipe-climbing robotMechanical analysisMotion stability |
| spellingShingle | Zihan Jin Yu Hou Qiang Wang Wei Sun Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism Jixie chuandong Metamorphic gripper Pipe-climbing robot Mechanical analysis Motion stability |
| title | Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism |
| title_full | Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism |
| title_fullStr | Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism |
| title_full_unstemmed | Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism |
| title_short | Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism |
| title_sort | structure design and mechanical analysis of bionic pipe climbing robot based on metamorphic mechanism |
| topic | Metamorphic gripper Pipe-climbing robot Mechanical analysis Motion stability |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.015 |
| work_keys_str_mv | AT zihanjin structuredesignandmechanicalanalysisofbionicpipeclimbingrobotbasedonmetamorphicmechanism AT yuhou structuredesignandmechanicalanalysisofbionicpipeclimbingrobotbasedonmetamorphicmechanism AT qiangwang structuredesignandmechanicalanalysisofbionicpipeclimbingrobotbasedonmetamorphicmechanism AT weisun structuredesignandmechanicalanalysisofbionicpipeclimbingrobotbasedonmetamorphicmechanism |