Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility

Gangfeng Liu; Hao Mo; Changle Li; Ge Li; Liyi Li

doi:10.1109/ICMA.2019.8816591

Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility

Gangfeng Liu
, Hao Mo
, Changle Li
, Ge Li
, Liyi Li

School of Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

In order to enable robot the omni-directional mobility in non-ferromagnetic pipelines, a negative pressure adsorption pipeline robot is designed. Firstly, a mechanical structure was designed for the omni-directional mobile pipeline robot based on negative pressure. A variable adsorption force control method for the robot was proposed by establishing the internal curved surface motion model of the pipeline robot through mechanical analysis. Simulation results show that the robot could steadily adsorb in any arbitrary position of the pipeline, possess the capability of omni-directional mobility and have a significantly improved endurance time.

Original language	English
Title of host publication	Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1448-1452
Number of pages	5
ISBN (Electronic)	9781728116983
DOIs	https://doi.org/10.1109/ICMA.2019.8816591
State	Published - Aug 2019
Event	16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 - Tianjin, China Duration: 4 Aug 2019 → 7 Aug 2019

Publication series

Name	Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

Conference

Conference	16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
Country/Territory	China
City	Tianjin
Period	4/08/19 → 7/08/19

Keywords

Negative Pressure Adsorption
Non-ferromagnetic Pipeline
Omni-directional Mobile
Pipeline Robot
Variable adsorbability control

Access to Document

10.1109/ICMA.2019.8816591

Cite this

Liu, G., Mo, H., Li, C., Li, G., & Li, L. (2019). Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 (pp. 1448-1452). Article 8816591 (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2019.8816591

Liu, Gangfeng ; Mo, Hao ; Li, Changle et al. / Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility. Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1448-1452 (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019).

@inproceedings{12b6c23406b2468291ee016fe7d66a94,

title = "Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility",

abstract = "In order to enable robot the omni-directional mobility in non-ferromagnetic pipelines, a negative pressure adsorption pipeline robot is designed. Firstly, a mechanical structure was designed for the omni-directional mobile pipeline robot based on negative pressure. A variable adsorption force control method for the robot was proposed by establishing the internal curved surface motion model of the pipeline robot through mechanical analysis. Simulation results show that the robot could steadily adsorb in any arbitrary position of the pipeline, possess the capability of omni-directional mobility and have a significantly improved endurance time.",

keywords = "Negative Pressure Adsorption, Non-ferromagnetic Pipeline, Omni-directional Mobile, Pipeline Robot, Variable adsorbability control",

author = "Gangfeng Liu and Hao Mo and Changle Li and Ge Li and Liyi Li",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 ; Conference date: 04-08-2019 Through 07-08-2019",

year = "2019",

month = aug,

doi = "10.1109/ICMA.2019.8816591",

language = "英语",

series = "Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1448--1452",

booktitle = "Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019",

address = "美国",

}

Liu, G, Mo, H, Li, C, Li, G & Li, L 2019, Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility. in Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019., 8816591, Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019, Institute of Electrical and Electronics Engineers Inc., pp. 1448-1452, 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019, Tianjin, China, 4/08/19. https://doi.org/10.1109/ICMA.2019.8816591

Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility. / Liu, Gangfeng; Mo, Hao; Li, Changle et al.
Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1448-1452 8816591 (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility

AU - Liu, Gangfeng

AU - Mo, Hao

AU - Li, Changle

AU - Li, Ge

AU - Li, Liyi

PY - 2019/8

Y1 - 2019/8

N2 - In order to enable robot the omni-directional mobility in non-ferromagnetic pipelines, a negative pressure adsorption pipeline robot is designed. Firstly, a mechanical structure was designed for the omni-directional mobile pipeline robot based on negative pressure. A variable adsorption force control method for the robot was proposed by establishing the internal curved surface motion model of the pipeline robot through mechanical analysis. Simulation results show that the robot could steadily adsorb in any arbitrary position of the pipeline, possess the capability of omni-directional mobility and have a significantly improved endurance time.

AB - In order to enable robot the omni-directional mobility in non-ferromagnetic pipelines, a negative pressure adsorption pipeline robot is designed. Firstly, a mechanical structure was designed for the omni-directional mobile pipeline robot based on negative pressure. A variable adsorption force control method for the robot was proposed by establishing the internal curved surface motion model of the pipeline robot through mechanical analysis. Simulation results show that the robot could steadily adsorb in any arbitrary position of the pipeline, possess the capability of omni-directional mobility and have a significantly improved endurance time.

KW - Negative Pressure Adsorption

KW - Non-ferromagnetic Pipeline

KW - Omni-directional Mobile

KW - Pipeline Robot

KW - Variable adsorbability control

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DO - 10.1109/ICMA.2019.8816591

M3 - 会议稿件

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SP - 1448

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BT - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019

Y2 - 4 August 2019 through 7 August 2019

ER -

Liu G, Mo H, Li C, Li G, Li L. Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1448-1452. 8816591. (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019). doi: 10.1109/ICMA.2019.8816591

Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility

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