Analysis on steering characteristics of crawler pipeline robot  

作　　者：耿林康 RAO Jinjun LEI Jingtao GENG Linkang;RAO Jinjun;LEI Jingtao(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,P.R.China;Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai 200444,P.R.China)

机构地区：[1]School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,P.R.China [2]Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai 200444,P.R.China

出　　处：《High Technology Letters》2023年第1期60-67,共8页高技术通讯（英文版）

基　　金：Supported by the National Natural Science Foundation of China(No.51775323).

摘　　要：In order to improve the elbow passing performance and different diameter adaptability of pipeline robot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to adapt to the complex environment such as variable diameter pipeline and elbow.The steering characteristics passing through the elbow are studied,the kinematic of pipeline robot bending steering is established,the geometric constraint(GC)and steering constraint(SC)in the elbow are analyzed,and the steering experiment is conducted.The results show that the robot can pass through the elbow by the SC model.The SC model can reduce the motor current and energy consumption when the robot passes through the elbow.

关 键 词：crawler pipeline robot steering characteristics geometric constraint(GC) steering constraint(SC) 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]