Effect of High Pressure Water Jet Cleaning Device on the Motion Stability of an In-pipe Cleaning Robot
文献类型：会议论文
| 作者 | Feng GH(冯冠华); Li ZG(李智刚) ; He Z(何震); Feng YB(冯迎宾); Xue T(薛涛); Liu KZ(刘开周)
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| 出版日期 | 2016 |
| 会议名称 | 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) |
| 会议日期 | December 3-7, 2016 |
| 会议地点 | Qingdao, China |
| 页码 | 1040-1045 |
| 通讯作者 | 冯冠华 |
| 中文摘要 | The in-pipe cleaning robot (IPCR) is a new equipment for pipelines cleaning. However, most existing in-pipe robots are used to inspection and simple maintenance, etc. They cannot effectively complete the pipelines cleaning works, especially large diameter pipelines. This paper proposes a novel wheeled and wall-pressing type IPCR equipped with new high pressure water jet cleaning device. The whole mechanisms of the proposed IPCR are designed and a novel preload mechanism is applied to guarantee the IPCR reach to the target operation distance. Based on the multi-body theory, the contact mechanisms model is built. The motion equation and differential-algebraic equations of the IPCR system are obtained respectively. To verify the effect of the high pressure water jet cleaning jet on the motion stability of the IPCR, the virtual simulation platform is established in software RecurDyn and some simulation experiments are carried out. The results show that under the condition of sufficient preload force, the high pressure water jet cleaning device starts after the main body runs stable, which can guarantee the global motion stability. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-4363-7 |
| 源URL | [http://ir.sia.cn/handle/173321/19686]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Feng GH,Li ZG,He Z,et al. Effect of High Pressure Water Jet Cleaning Device on the Motion Stability of an In-pipe Cleaning Robot[C]. 见:2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016). Qingdao, China. December 3-7, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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