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 a...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.展开更多
The report mainly studied the crawler frame motion platform to reduce weight and increase the intensity. Report described the structural design process which using CAD/CAE technology for solid modeling, simulation ana...The report mainly studied the crawler frame motion platform to reduce weight and increase the intensity. Report described the structural design process which using CAD/CAE technology for solid modeling, simulation analysis, parameter optimization. And it also explained the outstanding advantages of CAD/CAE technology in mechanical design as well as simulation analysis.展开更多
This paper proposes two novel rescue robots,including a cutter robot and a jack robot,which are aimed to contribute to rescue activities such as to cut through obstacles and to jack up debris in dangerous sites and na...This paper proposes two novel rescue robots,including a cutter robot and a jack robot,which are aimed to contribute to rescue activities such as to cut through obstacles and to jack up debris in dangerous sites and narrow spaces,where a rescue team can not work or approach.Firstly,a multilinked tracked rescue robot platform composed of connected crawler vehicles is developed,which has high mobility on irregular terrain and ability to move into narrow collapsed structures.Then,the cutter robot and jack robot are designed on the basis of rescue robot platform equipped with a cutter or a jack mechanism and corresponding manipulators in the front segment.The cutter refitted by an angle grinder is able to cut through 10 mm diameter steel bars.The electric jack mechanism designed based on multiple layers screw sleeves structure can lift up 300 kg load from 70 mm to 400 mm.Experimental results validate the capability of the two rescue robots.展开更多
The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside s...The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.展开更多
This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.Th...This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.The transmission is based on the constrained spherical six-bar linkage.The constrained spherical six-bar linkage passes only reciprocating motion out of the motor’s rotating motion,allowing the crawling legs to kick the ground and obtain propulsion.Steering is achieved by adjusting the geometric constraints of the spherical six-bar using a servomotor,allowing the direction of propulsion to be changed.As a result,the OriSCO can move along the ground at a speed of 2.15 body lengths/s,and the robot is 60 mm long.展开更多
现如今城市进程发展迅速,高层建筑不断增加,高楼幕墙的清洗问题随之而来,传统的人工清洗危险系数高、清洗成本大、清洗效率低。针对这些问题,本文介绍一款履带式幕墙清洗机器人,使用Solid Works 2019软件建立起了履带式幕墙清洗机器人...现如今城市进程发展迅速,高层建筑不断增加,高楼幕墙的清洗问题随之而来,传统的人工清洗危险系数高、清洗成本大、清洗效率低。针对这些问题,本文介绍一款履带式幕墙清洗机器人,使用Solid Works 2019软件建立起了履带式幕墙清洗机器人的驱动单元、抽水及蓄水单元、吸附单元、清洗单元、卷扬机单元、设备主体几部分的三维模型,可实现幕墙清洗机器人的移动、吸附、清洗三大功能。本设计以高楼幕墙清洁为前提,布局设计合理,功能齐全,材料经济轻便、运行安全稳定,是一款高效可靠的幕墙清洗机器人。展开更多
基金Supported by the National Natural Science Foundation of China(No.51775323).
文摘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.
文摘The report mainly studied the crawler frame motion platform to reduce weight and increase the intensity. Report described the structural design process which using CAD/CAE technology for solid modeling, simulation analysis, parameter optimization. And it also explained the outstanding advantages of CAD/CAE technology in mechanical design as well as simulation analysis.
基金Supported by the National High Technology Research and Development Programme of China(No.#2012AA041505)
文摘This paper proposes two novel rescue robots,including a cutter robot and a jack robot,which are aimed to contribute to rescue activities such as to cut through obstacles and to jack up debris in dangerous sites and narrow spaces,where a rescue team can not work or approach.Firstly,a multilinked tracked rescue robot platform composed of connected crawler vehicles is developed,which has high mobility on irregular terrain and ability to move into narrow collapsed structures.Then,the cutter robot and jack robot are designed on the basis of rescue robot platform equipped with a cutter or a jack mechanism and corresponding manipulators in the front segment.The cutter refitted by an angle grinder is able to cut through 10 mm diameter steel bars.The electric jack mechanism designed based on multiple layers screw sleeves structure can lift up 300 kg load from 70 mm to 400 mm.Experimental results validate the capability of the two rescue robots.
基金Supported by National High TechR&DProgramin China!( 86 3 5 1 2 970 4 2 6 86 3 5 1 2 980 4 1 8)
文摘The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.
基金supported by the Research Program funded by the SeoulTech(Seoul National University of Science and Technology).
文摘This paper focuses on a newly developed transmission for a milli-scale eight-legged crawling robot called OriSCO.The transmission allows intuitive steering by directly changing the direction of the propulsion force.The transmission is based on the constrained spherical six-bar linkage.The constrained spherical six-bar linkage passes only reciprocating motion out of the motor’s rotating motion,allowing the crawling legs to kick the ground and obtain propulsion.Steering is achieved by adjusting the geometric constraints of the spherical six-bar using a servomotor,allowing the direction of propulsion to be changed.As a result,the OriSCO can move along the ground at a speed of 2.15 body lengths/s,and the robot is 60 mm long.
文摘现如今城市进程发展迅速,高层建筑不断增加,高楼幕墙的清洗问题随之而来,传统的人工清洗危险系数高、清洗成本大、清洗效率低。针对这些问题,本文介绍一款履带式幕墙清洗机器人,使用Solid Works 2019软件建立起了履带式幕墙清洗机器人的驱动单元、抽水及蓄水单元、吸附单元、清洗单元、卷扬机单元、设备主体几部分的三维模型,可实现幕墙清洗机器人的移动、吸附、清洗三大功能。本设计以高楼幕墙清洁为前提,布局设计合理,功能齐全,材料经济轻便、运行安全稳定,是一款高效可靠的幕墙清洗机器人。
