Dynamic Properties on Double Driving Articulated in-Pipe Robot Inspecting System

被引：1

作者：

Chen Jun ^{[1
,2
]}

Chen Tao ^{[3
]}

Deng Zongquan ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China

[2] Harbin Inst Technol, Sch Naval Architecture, Harbin 264209, Peoples R China

[3] Linyi Entry Exit Inspect & Quarant Bur, Linyi 276034, Peoples R China

来源：

MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION IV, PTS 1 AND 2 | 2012年 / 128-129卷

关键词：

in-pipe robot; double driving units; articulated modular units; Frictional constrained contact;

D O I：

10.4028/www.scientific.net/AMM.128-129.1430

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To solve the problem of increased resistance founded in prototype test for single traction articulated in-pipe robot inspecting system move inversely, a driving scheme with double driving in-pipe robots located in both ends of inspecting system has been put forward. For the deflection of hinge connection caused by the misaligned centroid position of each modular unit, the limited contact mechanics model between the modular unit and pipe wall is established, and the stability of movement of modular units moved in elbow pipe is analyzed by example. The simulation results verify the rationality of analysis process, to provide the basis for improving in-pipe robot inspecting system design.

引用

页码：1430 / +

页数：2

共 4 条

[1]

Chen Jun, 2008, Journal of Harbin Institute of Technology, V40, P1741

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[3]

Dupont PE, 1996, IEEE INT CONF ROBOT, P378, DOI 10.1109/ROBOT.1996.503806

[4] Analysis of rigid-body dynamic models for simulation of systems with frictional contacts [J].

Song, P ;

Kraus, P ;

Kumar, V ;

Dupont, P .

JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME, 2001, 68 (01) :118-128

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