常力封闭管内行走机器人机构类型研究  

RESEARCH ON MECHANISM TYPES OF ROBOTS WITH CONSTANT POSITIVE PRESSURES MOVING INSIDE ENCLOSURE PIPES

作　　者：邓宗全[1] 陈明[1] 李笑[1] 孙序梁[1] 刘成林 

机构地区：[1]哈尔滨工业大学机械工程系 [2]武汉钢铁学院机械系

出　　处：《机器人》1991年第6期53-55,共3页Robot

基　　金：国家自然科学青年科学基金

摘　　要：本文提出了用管径适应性系数A(A_(0.1))衡量管内行走机器人机构对管径变化的适应能力的方法,并用该方法评价了4种典型管内行走机器人机构。通过机构演化原理演化了各种形式的管内行走机器人机构,揭示了各种管内行走机构的内在联系,给出了各种行走机构驱动轮上正压力与机构参数的关系。本文还对斜叉式管内行走机构进行了实验研究。This paper puts forward a method in which the adaptabilities of a robot to various pipe diameters areevaluated via the pipe diameter adaptive cocfficient A(A_(0.1)). With this method, 4 types of mechanisms areevaluated. Using the theory of mechanism evolution, various mechanisms for robots moving inside pipesare deduced. Also, intrinsic relations between these types are clarified and relation between the positivepressure on the driving wheel and mechanism parameter is given. Experimental research is conducted un-der condition of slant branch pipe.

关 键 词：管内检测 机器人 机构 行走装置 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]