Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment
文献类型：期刊论文
| 作者 | Li T(李特) ; Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
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| 刊名 | CHINESE JOURNAL OF MECHANICAL ENGINEERING
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| 出版日期 | 2015 |
| 卷号 | 28期号:6页码:1213-1221 |
| 关键词 | screw drive in-pipe robot fuzzy control torque control |
| ISSN号 | 1000-9345 |
| 产权排序 | 1 |
| 通讯作者 | 王明辉 |
| 中文摘要 | Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Mechanical |
| 研究领域[WOS] | Engineering |
| 关键词[WOS] | MECHANISM |
| 收录类别 | SCI ; EI ; CSCD |
| 语种 | 英语 |
| WOS记录号 | WOS:000364728500016 |
| 源URL | [http://ir.sia.cn/handle/173321/17312]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Li T,Ma SG,Li B,et al. Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2015,28(6):1213-1221. |
| APA | Li T,Ma SG,Li B,Wang MH,&Wang YC.(2015).Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment.CHINESE JOURNAL OF MECHANICAL ENGINEERING,28(6),1213-1221. |
| MLA | Li T,et al."Fuzzy Theory Based Control Method for an In-pipe Robot to Move in Variable Resistance Environment".CHINESE JOURNAL OF MECHANICAL ENGINEERING 28.6(2015):1213-1221. |
入库方式： OAI收割
来源：沈阳自动化研究所
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