Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes
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 | Science China Technological Sciences
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| 出版日期 | 2016 |
| 卷号 | 59期号:2页码:191-202 |
| 关键词 | screw drive in-pipe robot axiomatic design tri-axial differential mechanism |
| ISSN号 | 1674-7321 |
| 产权排序 | 1 |
| 通讯作者 | 王明辉 |
| 中文摘要 | A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design (AD) theory is applied to evaluate and analyze the existing designs. Then an uncoupled concept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the proposed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the motion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots that have inclining-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Multidisciplinary ; Materials Science, Multidisciplinary |
| 研究领域[WOS] | Engineering ; Materials Science |
| 关键词[WOS] | INSPECTION ; PIPELINES |
| 收录类别 | SCI ; EI ; CSCD |
| 语种 | 英语 |
| WOS记录号 | WOS:000371281000002 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/16222]  |
| 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. Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes[J]. Science China Technological Sciences,2016,59(2):191-202. |
| APA | Li T,Ma SG,Li B,Wang MH,&Wang YC.(2016).Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes.Science China Technological Sciences,59(2),191-202. |
| MLA | Li T,et al."Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes".Science China Technological Sciences 59.2(2016):191-202. |
入库方式： OAI收割
来源：沈阳自动化研究所
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