哈尔滨工程大学学报2012，Vol.33Issue(6)：753-758,6.DOI:10.3969/j.issn.1006-7043.201106019
三轴差动式管道机器人的驱动特性及仿真研究
Research and simulation on the driving property of a tri-axial differential pipeline robot
摘要
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.关键词
管道机器人/三轴差动/驱动特性/仿真研究Key words
pipeline robot/ tri-axial differential/ driving property/ simulation analysis分类
信息技术与安全科学引用本文复制引用
李庆凯,唐德威,姜生元,邓宗全..三轴差动式管道机器人的驱动特性及仿真研究[J].哈尔滨工程大学学报,2012,33(6):753-758,6.基金项目
国家863计划基金资助项目(2006AA04Z236) （2006AA04Z236）
机器人技术与系统围家重点试验室自主研究课题基金资助项目(SKLRS200802C) （SKLRS200802C）
高等学校学科创新引智计划基金资助项目(B07018). （B07018）
