@inproceedings{babb32f4853944589fbf34b923c83a14,
title = "Mechanical Design and Path Planning of A Robotic Arm for GIS Pipeline Inspection",
abstract = "In view of the requirements for detection and obstacle avoidance in GIS pipeline, a robotic arm that can be mounted on a pipeline inspection robot to complete detection task is designed. Firstly, mechanical design for the robotic arm is carried out and structural optimization is implemented. According to the simulation results, the robotic arm has a lightweight structure and good mechanical properties. Then a prototype of the robotic arm is built. Afterwards, a research for obstacle avoidance path planning of the robotic arm is conducted, in which process RRT-Connect algorithm is used. Simulation results show that the robotic arm designed can realize obstacle avoidance path planning well in GIS pipeline.",
keywords = "Pipeline Inspection, Robotic Arm, path planning, structural optimization",
author = "Tao Liu and Wensheng Li and Xiangyu Sun and Wei Wang and Yuansheng Fang and Ximeng Zhu and Liqiang Zhong and Gangfeng Liu and Jie Zhao",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 ; Conference date: 13-10-2020 Through 16-10-2020",
year = "2020",
month = oct,
day = "13",
doi = "10.1109/ICMA49215.2020.9233665",
language = "英语",
series = "2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1371--1376",
booktitle = "2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020",
address = "美国",
}