@inproceedings{b26495a0d4b44346a5194b59514e9653,
title = "Research on a tri-axial differential-drive in-pipe robot",
abstract = "Pipelines for oil, gas and fluid transportation require a robot to have an excellent mobility and adaptability to various pipelines with elbows. In this paper, a novel differential drive in-pipe robot called tri-axial differential drive in-pipe robot, which is composed of a tri-axial differential mechanism and a pipeline adaptation mechanism, is presented and developed for the inspection of pipelines with inner diameter from 275 to 300 mm. The tri-axial differential mechanism with 3-DOF for steering allows the robot easily adapt to the existing configuration of pipelines by providing outstanding mobility during navigation. Then differential and mechanics property of the robot in straight pipeline and elbow are analyzed based on established mathematical model, and multi-body simulation on the robot is conducted to confirm the effectiveness of the proposed model.",
keywords = "Differential drive, Elbow, In-pipe robot, Tri-axial differential mechanism",
author = "Jiang, \{Sheng Yuan\} and Xudong Jiang and Jie Lu and Jianyong Li and Xiangyan Lv",
year = "2008",
doi = "10.1007/978-3-540-88513-9\_110",
language = "英语",
isbn = "3540885129",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
number = "PART 1",
pages = "1031--1040",
booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",
address = "德国",
edition = "PART 1",
note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",
}