TY - GEN
T1 - Dynamic properties on double driving articulated in-pipe robot inspecting system
AU - Chen, Jun
AU - Chen, Tao
AU - Deng, Zongquan
PY - 2012
Y1 - 2012
N2 - To solve the problem of increased resistance founded in prototype test for single traction articulated in-pipe robot inspecting system move inversely, a driving scheme with double driving in-pipe robots located in both ends of inspecting system has been put forward. For the deflection of hinge connection caused by the misaligned centroid position of each modular unit, the limited contact mechanics model between the modular unit and pipe wall is established, and the stability of movement of modular units moved in elbow pipe is analyzed by example. The simulation results verify the rationality of analysis process, to provide the basis for improving in-pipe robot inspecting system design.
AB - To solve the problem of increased resistance founded in prototype test for single traction articulated in-pipe robot inspecting system move inversely, a driving scheme with double driving in-pipe robots located in both ends of inspecting system has been put forward. For the deflection of hinge connection caused by the misaligned centroid position of each modular unit, the limited contact mechanics model between the modular unit and pipe wall is established, and the stability of movement of modular units moved in elbow pipe is analyzed by example. The simulation results verify the rationality of analysis process, to provide the basis for improving in-pipe robot inspecting system design.
KW - Articulated modular units
KW - Double driving units
KW - Frictional constrained contact
KW - In-pipe robot
UR - https://www.scopus.com/pages/publications/81055141565
U2 - 10.4028/www.scientific.net/AMM.128-129.1430
DO - 10.4028/www.scientific.net/AMM.128-129.1430
M3 - 会议稿件
AN - SCOPUS:81055141565
SN - 9783037852842
T3 - Applied Mechanics and Materials
SP - 1430
EP - 1433
BT - Measuring Technology and Mechatronics Automation IV
T2 - 4th International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2012
Y2 - 6 January 2012 through 7 January 2012
ER -