摘要
球形管道机器人是将球形机器人的结构应用于管道爬行这一背景中设计的一种机器人。它利用了球形机器人运动全向性、转弯灵活的特点,解决了目前管道机器人中普遍存在的转弯困难、运动速度慢的问题。介绍了球形管道机器人的机械结构,在水平面内对机器人做了运动原理分析。针对管道应用的特点介绍了机器人对于各种交叉管路的识别并具体分析了转弯过程。
A spherical pipe robot is a kind of robot which is designed for use in the pipe depending on the structure of a spherical robot, h can solve the problems which are widely existed in today＇ s pipe robots and which is difficult to turn and to move depending on the characters of the spherical robot which are all - directions＇ movement and flexible turning. Firstly, this paper introduces the mathematical structure of the spherical pipe robot. Then it contains kinematics analyze in plane. Thirdly, it discusses detailed analysis about recognizing the shape of the crossing pipes and turning course depending on the character of pipe ap- plication.
出处
《机械设计与制造》
北大核心
2006年第12期133-135,共3页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(50275024)
关键词
球形管道机器人
全方位
管路识别
转弯
The spherical pipe robot
All - direction
Pipe recognition
Turning
