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Traveling property of wheel-type pipeline robot with different configurations
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作者 唐德威 李庆凯 +1 位作者 姜生元 邓宗全 《Journal of Beijing Institute of Technology》 EI CAS 2012年第1期58-63,共6页
In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the ... In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the movement analysis of the robot with different configurations in elbow section, the pose model of the robot is established, and the coordinates of the wheel centers and the contact points can be got through the calculation of the pose model. Based on the pose model established, the corresponding drive ratios are obtained combining with the relations of the velocities of wheel centers and rotative velocities of wheels under the movement condition with no interference. The virtual simulations and prototype experiments are carried out, and the drive ratios accuracy of the model when the robot moved in elbow without interference is validated. 展开更多
关键词 pipeline robot movement in elbow pose model ratios of driving speed experiment validation
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