Design and locomotion control strategy for a steerable in-pipe robot
文献类型：会议论文
| 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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| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Mechatronics and Automation (ICMA) |
| 会议日期 | August 2-5, 2015 |
| 会议地点 | Beijing |
| 关键词 | Screw drive In-pipe robot Control strategy Steering mechanism |
| 页码 | 1228-1233 |
| 中文摘要 | A steerable in-pipe robot based on screw drive is proposed for curved pipes and T-pipes. The robot with only two motors is composed of the drive mechanism and steering mechanism. The design principles of the robot are analyzed based on the kinematic and statics models. The spring parameters of the elastic arms are selected in consideration of the stability of steering motion. Then the steering locomotion control strategy in curved and T-pipes is given based on a simplified planar connecting rod model. In order to select a proper posture to turn, a posture adjustment strategy making full use of the pipe constraint is also proposed. The simulation results show that the proposed robot can pass through the curved pipes and T-pipes, and adjust the posture by the proposed control strategies. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2015 IEEE International Conference on Mechatronics and Automation (ICMA)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-7098-8 |
| WOS记录号 | WOS:000380447600216 |
| 源URL | [http://ir.sia.cn/handle/173321/17462]  |
| 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. Design and locomotion control strategy for a steerable in-pipe robot[C]. 见:2015 IEEE International Conference on Mechatronics and Automation (ICMA). Beijing. August 2-5, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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