Kinematic analysis of pipe robot in elbow based on virtual prototype technology

Jun Chen; Xiuchao Cao; Zongquan Deng

doi:10.1109/ROBIO.2015.7419105

Kinematic analysis of pipe robot in elbow based on virtual prototype technology

Jun Chen
, Xiuchao Cao
, Zongquan Deng

School of Mechatronics Engineering

Harbin Institute of Technology Weihai

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

6 Scopus citations

Abstract

This paper focuses on kinematic characteristics of articulated multi-unit wheel type pipe robot system. After establishing the posture model of the robot system in elbow considering wheel dimensions, wheel center coordinates and corresponding contact point coordinates of each wheel are presented. Based on the posture model, the ratio relations of theoretical angular velocity for each wheel are presented. To confirm the effectiveness of the proposed theoretical analysis, simulation analyses based on virtual prototype technology are performed, and the analysis results with theoretical calculations are basically identical. This provide theoretical basis for the selection of driving mechanism design and control mode of wheel type pipe robot.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2229-2234
Number of pages	6
ISBN (Electronic)	9781467396745
DOIs	https://doi.org/10.1109/ROBIO.2015.7419105
State	Published - 2015
Event	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China Duration: 6 Dec 2015 → 9 Dec 2015

Publication series

Name	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Conference

Conference	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/Territory	China
City	Zhuhai
Period	6/12/15 → 9/12/15

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10.1109/ROBIO.2015.7419105

Cite this

Chen, J., Cao, X., & Deng, Z. (2015). Kinematic analysis of pipe robot in elbow based on virtual prototype technology. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 (pp. 2229-2234). Article 7419105 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2015.7419105

@inproceedings{d7e7522859a546c48a70958c4b5c483b,

title = "Kinematic analysis of pipe robot in elbow based on virtual prototype technology",

abstract = "This paper focuses on kinematic characteristics of articulated multi-unit wheel type pipe robot system. After establishing the posture model of the robot system in elbow considering wheel dimensions, wheel center coordinates and corresponding contact point coordinates of each wheel are presented. Based on the posture model, the ratio relations of theoretical angular velocity for each wheel are presented. To confirm the effectiveness of the proposed theoretical analysis, simulation analyses based on virtual prototype technology are performed, and the analysis results with theoretical calculations are basically identical. This provide theoretical basis for the selection of driving mechanism design and control mode of wheel type pipe robot.",

author = "Jun Chen and Xiuchao Cao and Zongquan Deng",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 ; Conference date: 06-12-2015 Through 09-12-2015",

year = "2015",

doi = "10.1109/ROBIO.2015.7419105",

language = "英语",

series = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",

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

pages = "2229--2234",

booktitle = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",

address = "美国",

}

Chen, J, Cao, X & Deng, Z 2015, Kinematic analysis of pipe robot in elbow based on virtual prototype technology. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015., 7419105, 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Institute of Electrical and Electronics Engineers Inc., pp. 2229-2234, IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Zhuhai, China, 6/12/15. https://doi.org/10.1109/ROBIO.2015.7419105

Kinematic analysis of pipe robot in elbow based on virtual prototype technology. / Chen, Jun; Cao, Xiuchao; Deng, Zongquan.
2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2229-2234 7419105 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).

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

TY - GEN

T1 - Kinematic analysis of pipe robot in elbow based on virtual prototype technology

AU - Chen, Jun

AU - Cao, Xiuchao

AU - Deng, Zongquan

PY - 2015

Y1 - 2015

N2 - This paper focuses on kinematic characteristics of articulated multi-unit wheel type pipe robot system. After establishing the posture model of the robot system in elbow considering wheel dimensions, wheel center coordinates and corresponding contact point coordinates of each wheel are presented. Based on the posture model, the ratio relations of theoretical angular velocity for each wheel are presented. To confirm the effectiveness of the proposed theoretical analysis, simulation analyses based on virtual prototype technology are performed, and the analysis results with theoretical calculations are basically identical. This provide theoretical basis for the selection of driving mechanism design and control mode of wheel type pipe robot.

AB - This paper focuses on kinematic characteristics of articulated multi-unit wheel type pipe robot system. After establishing the posture model of the robot system in elbow considering wheel dimensions, wheel center coordinates and corresponding contact point coordinates of each wheel are presented. Based on the posture model, the ratio relations of theoretical angular velocity for each wheel are presented. To confirm the effectiveness of the proposed theoretical analysis, simulation analyses based on virtual prototype technology are performed, and the analysis results with theoretical calculations are basically identical. This provide theoretical basis for the selection of driving mechanism design and control mode of wheel type pipe robot.

UR - https://www.scopus.com/pages/publications/84964414547

U2 - 10.1109/ROBIO.2015.7419105

DO - 10.1109/ROBIO.2015.7419105

M3 - 会议稿件

AN - SCOPUS:84964414547

T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

SP - 2229

EP - 2234

BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Y2 - 6 December 2015 through 9 December 2015

ER -

Chen J, Cao X, Deng Z. Kinematic analysis of pipe robot in elbow based on virtual prototype technology. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2229-2234. 7419105. (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). doi: 10.1109/ROBIO.2015.7419105

Kinematic analysis of pipe robot in elbow based on virtual prototype technology

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