| GENG Linkang(耿林康)*,RAO Jinjun* **,LEI Jingtao* **.[J].高技术通讯(英文),2023,29(1):60~67 |
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| Analysis on steering characteristics of crawler pipeline robot |
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| DOI：10. 3772/ j. issn. 1006-6748. 2023. 01. 007 |
| 中文关键词: |
| 英文关键词: crawler pipeline robot, steering characteristics, geometric constraint(GC), steering constraint(SC) |
| 基金项目: |
| Author Name | Affiliation | | GENG Linkang(耿林康)* | (*School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, P.R.China)
(**Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai 200444, P.R.China) | | RAO Jinjun* ** | (*School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, P.R.China)
(**Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai 200444, P.R.China) | | LEI Jingtao* ** | (*School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, P.R.China)
(**Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai 200444, P.R.China) |
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| 中文摘要: |
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| 英文摘要: |
| In order to improve the elbow passing performance and different diameter adaptability of pipeline robot, a supported crawler pipeline robot is designed, which adopts screw nut mechanism and hinge four-bar mechanism to adapt to the complex environment such as variable diameter pipeline and elbow. The steering characteristics passing through the elbow are studied, the kinematic of pipeline robot bending steering is established, the geometric constraint (GC) and steering constraint (SC) in the elbow are analyzed, and the steering experiment is conducted. The results show that the robot can pass through the elbow by the SC model. The SC model can reduce the motor current and energy consumption when the robot passes through the elbow. |
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