Abstract
A fault tree with the improper differential-drive as the top incident was established by the reliability analyses of the driving unit of a tri-axial differential-drive in-pipe mobile robot. The things accounting for the fault of the differential-drive were found by solving the minimal path set and the minimal cut-set. A tri-axial differential-drive in-pipe mobile robot was redesigned by the reconfiguration concept. The numerical simulation and the trial operation of the redesigned prototype show that, compared with the original one, its movement smoothness, environmental adaptability and driving performance were improved, enhancing the reliability of the robot in its long-distance in-pipe operation.
| Original language | English |
|---|---|
| Pages (from-to) | 365-369 |
| Number of pages | 5 |
| Journal | Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) |
| Volume | 38 |
| Issue number | 2 |
| State | Published - Mar 2008 |
| Externally published | Yes |
Keywords
- Fault tree
- Mechanical design
- Minimal cut-set
- Minimal path set
- Reliability
- Tri-axial differential
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