Mechanical property of a articulated in-pipe locomotion robot

Jun Chen; Zhengfeng Bai; Jian Li; Zongquan Deng

doi:10.1109/ROBIO.2016.7866397

Mechanical property of a articulated in-pipe locomotion robot

Jun Chen
, Zhengfeng Bai
, Jian Li
, Zongquan Deng

Harbin Institute of Technology Weihai
School of Mechatronics Engineering, Harbin Institute of Technology

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

Abstract

This paper focuses on mechanical property of a articulated multi-unit wheel type in-pipe locomotion robot system. Through establishing the posture model of the robot system, can get the coordinates of wheel center and its corresponding contact point with pipe wall of each wheel for robot unit. Based on the posture model, the mechanical model of the robot unit is presented and the analysis is carried out in details. To confirm the effectiveness of the proposed theoretical analysis, an example about statics of the pipe robot is calculated, and the calculation results basically reflect the actual characteristics of the pipe robot. 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	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	655-660
Number of pages	6
ISBN (Electronic)	9781509043644
DOIs	https://doi.org/10.1109/ROBIO.2016.7866397
State	Published - 2016
Externally published	Yes
Event	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: 3 Dec 2016 → 7 Dec 2016

Publication series

Name	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Conference

Conference	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Country/Territory	China
City	Qingdao
Period	3/12/16 → 7/12/16

Access to Document

10.1109/ROBIO.2016.7866397

Cite this

Chen, J., Bai, Z., Li, J., & Deng, Z. (2016). Mechanical property of a articulated in-pipe locomotion robot. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 655-660). Article 7866397 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866397

@inproceedings{44eeb7fee52b49fc8290a549aae34651,

title = "Mechanical property of a articulated in-pipe locomotion robot",

abstract = "This paper focuses on mechanical property of a articulated multi-unit wheel type in-pipe locomotion robot system. Through establishing the posture model of the robot system, can get the coordinates of wheel center and its corresponding contact point with pipe wall of each wheel for robot unit. Based on the posture model, the mechanical model of the robot unit is presented and the analysis is carried out in details. To confirm the effectiveness of the proposed theoretical analysis, an example about statics of the pipe robot is calculated, and the calculation results basically reflect the actual characteristics of the pipe robot. This provide theoretical basis for the selection of driving mechanism design and control mode of wheel type pipe robot.",

author = "Jun Chen and Zhengfeng Bai and Jian Li and Zongquan Deng",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 ; Conference date: 03-12-2016 Through 07-12-2016",

year = "2016",

doi = "10.1109/ROBIO.2016.7866397",

language = "英语",

series = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

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

pages = "655--660",

booktitle = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

address = "美国",

}

Chen, J, Bai, Z, Li, J & Deng, Z 2016, Mechanical property of a articulated in-pipe locomotion robot. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866397, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Institute of Electrical and Electronics Engineers Inc., pp. 655-660, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 3/12/16. https://doi.org/10.1109/ROBIO.2016.7866397

Mechanical property of a articulated in-pipe locomotion robot. / Chen, Jun; Bai, Zhengfeng; Li, Jian et al.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 655-660 7866397 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

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

TY - GEN

T1 - Mechanical property of a articulated in-pipe locomotion robot

AU - Chen, Jun

AU - Bai, Zhengfeng

AU - Li, Jian

AU - Deng, Zongquan

PY - 2016

Y1 - 2016

N2 - This paper focuses on mechanical property of a articulated multi-unit wheel type in-pipe locomotion robot system. Through establishing the posture model of the robot system, can get the coordinates of wheel center and its corresponding contact point with pipe wall of each wheel for robot unit. Based on the posture model, the mechanical model of the robot unit is presented and the analysis is carried out in details. To confirm the effectiveness of the proposed theoretical analysis, an example about statics of the pipe robot is calculated, and the calculation results basically reflect the actual characteristics of the pipe robot. This provide theoretical basis for the selection of driving mechanism design and control mode of wheel type pipe robot.

AB - This paper focuses on mechanical property of a articulated multi-unit wheel type in-pipe locomotion robot system. Through establishing the posture model of the robot system, can get the coordinates of wheel center and its corresponding contact point with pipe wall of each wheel for robot unit. Based on the posture model, the mechanical model of the robot unit is presented and the analysis is carried out in details. To confirm the effectiveness of the proposed theoretical analysis, an example about statics of the pipe robot is calculated, and the calculation results basically reflect the actual characteristics of the pipe robot. 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/85016731148

U2 - 10.1109/ROBIO.2016.7866397

DO - 10.1109/ROBIO.2016.7866397

M3 - 会议稿件

AN - SCOPUS:85016731148

T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

SP - 655

EP - 660

BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Y2 - 3 December 2016 through 7 December 2016

ER -

Mechanical property of a articulated in-pipe locomotion robot

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