Abstract
In order to solve the interference problem of a wheel-type pipeline robot when moving in an elbow, a wheel-type pipeline robot known as a tri-axial differential pipeline robot with the function of differential movement was developed. The structure composition and the basic principle of the robot were introduced. Then the driving properties of the robot, such as traction force and the ability to span obstacles, were analyzed and the corresponding theoretical model was established. The virtual simulation model of the robot for the traction force and its ability to span obstacle were researched, and the simulation results were consistent with the theoretical analysis. The results of the robot moving in an elbow indicate that the robot can cross the elbow successfully, and the tri-axial differential mechanism possesses favorable differential functions.
| Original language | English |
|---|---|
| Pages (from-to) | 753-758 |
| Number of pages | 6 |
| Journal | Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University |
| Volume | 33 |
| Issue number | 6 |
| DOIs | |
| State | Published - Jun 2012 |
Keywords
- Driving property
- Pipeline robot
- Simulation analysis
- Tri-axial differential
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