Development of an adaptive mobile robot for in-pipe inspection task
文献类型：会议论文
| 作者 | Li P(李鹏); Ma SG(马书根) ; Li B(李斌); Wang YC(王越超)
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| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | August 5-8, 2007 |
| 会议地点 | Harbin, China |
| 关键词 | in-pipe robot adaptive mobile mechanism mechanical design screw drive |
| 页码 | 3622-3627 |
| 中文摘要 | For the purpose of performing internal inspection task of pipe, a robot based on adaptive mobile mechanism is developed. The robot equipped with one actuator has two working modes, a normal working mode and an assistant working mode. Robot under normal working mode performs monitoring tasks and travels in the pipe, while under assistant enhanced mode, robot will surmount obstacle without any other driving actuator during executing tasks. The special feature is achieved by applying the adaptive mobile mechanism we proposed in this paper. A prototype has been set up and experiments have been conducted to testify the adaptability and efficiency of the robot. The results show that the robot can successfully climb up a step that is formed by concentric junction with a height of 5mm. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Natl Nat Sci Fdn China, Minist Educ China, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Univ Electro Commun, Univ Elect Sci & Technol China, Changchu Univ Sci & Technol, Beijing Univ Technol, IEEE Hong Kong Sect Joint RACS Chapter |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS
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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 | 978-1-4244-0827-6 |
| WOS记录号 | WOS:000251178104082 |
| 源URL | [http://ir.sia.cn/handle/173321/8662]  |
| 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 P,Ma SG,Li B,et al. Development of an adaptive mobile robot for in-pipe inspection task[C]. 见:IEEE International Conference on Mechatronics and Automation. Harbin, China. August 5-8, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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