Analysis on steering characteristics of crawler pipeline robot

作     者：耿林康 RAO Jinjun LEI Jingtao GENG Linkang;RAO Jinjun;LEI Jingtao

作者机构：School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444P.R.China Shanghai Key Laboratory of Intelligent Manufacturing and RoboticsShanghai 200444P.R.China 

出 版 物：《High Technology Letters》 (高技术通讯（英文版）)

年 卷 期：2023年第29卷第1期

页      面：60-67页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

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

主　　题：crawler pipeline robot steering characteristics geometric constraint(GC) steering constraint(SC) 

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 *** 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 *** results show that the robot can pass through the elbow by the SC *** SC model can reduce the motor current and energy consumption when the robot passes through the elbow.