共查询到18条相似文献,搜索用时 88 毫秒
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国外微型管内机器人的发展 总被引:14,自引:2,他引:12
本文首先论述了微型管道机器人的发展背景及与传统管内机器人的区别,然后
对几种典型常规小管径管道机器人和国外几种典型微驱动式管内微型机器人工作原理对比分
析,指出了目前管内微型机器人研究中所面临的主要问题,并对实现微管内机器人
实用化的关键技术及研究发展方向进行了探讨. 相似文献
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介绍一种用于管内防腐喷涂作业的视觉机器人控制系统。该系统采用二级计算机控制,实现了基于视觉的位置与速度控制,从而有效地解决了管内作业的准确性问题。 相似文献
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本文提出了一种新型管内行走机器模型,探讨了模型的设计方法,并对该模型进行了实验研究,实验表明,该机器人能在水平或垂直上升管内平稳行走. 相似文献
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常力封闭管内行走机器人机构类型研究 总被引:2,自引:2,他引:0
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。 相似文献
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Hidemasa Sawabe Mizuki Nakajima Motoyasu Tanaka Kazuo Tanaka Fumitoshi Matsuno 《Advanced Robotics》2013,27(20):1072-1086
We propose a control method in which an articulated wheeled mobile robot moves inside straight, curved and branched pipes. This control method allows the articulated wheeled mobile robot to inspect a larger area. The articulated wheeled mobile robot comprises pitch and yaw joints is and propelled by active wheels attached to the robot. Via the proposed control method, the robot takes on two different shapes; one prevents the robot from slipping inside straight pipes and the other allows movement in a pipe that curves in any direction. The robot is controlled by a simplified model for the robot's joint angles. The joint angles of the robot are obtained by fitting to a continuous curve along the pipe path. In addition, the angular velocity of the robot's active wheels is determined by a simplified model. The effectiveness of the proposed the control method was demonstrated with a physical implementation of the robot, and the robot was able to move inside straight, curved and branched pipes. 相似文献
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In this article, a novel in-pipe inspection robot is designed and manufactured in Kharazmi University KharazmPipeBot. This robot is able to move through any pipeline with a predefined diameter range with a variable pitch rate and report any desired data within the pipe with the aid of the installed camera. To achieve the highest stability of the robot through the pipe, the robot's movement is based on the screw locomotion protocol provided by the aid of its rotor and stator. A simple suspension is designed for three legs of the robot by installing a passive prismatic joint equipped with a spring for each leg to provide a smoother movement for the robot chassis. The main novelty of the robot is adding an extra controlling actuator for the robot which is the steer of the front wheels. This input can control the pitch rate of the robot movement and consequently the spiral track of the wheels can be actively managed. This importance lets us to bypass the probable obstacles attached to the inner wall of the pipes. A brief presentation of the robot model is delivered. Afterward, to verify the claimed novelties of the system, a prototype of the robot is manufactured in Kharazmi University and the efficiency of the robot is demonstrated by conducting some initial experimental tests. It is shown that the robot can move with a variable pitch rate through the wall and pass a detected obstacle accordingly. 相似文献
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Toshihiko Mabuchi Takeshi Nagasawa Keizou Awa Kazuhiro Shiraki Tomoharu Yamada 《Artificial Life and Robotics》1998,2(4):184-188
This paper deals with the development of a stair-climbing mobile robot with legs and wheels. The main technical issues in
developing this type of robot are the stability and speed of the robot while climbing stairs. The robot has two wheels in
the front of the body to support its weight when it moves on flat terrain, and it also has arms between the wheels to hook
onto the tread of stairs. There are two pairs of legs in the rear of the body. Using not only the rorational torque of the
arms and the wheels, but also the force of the legs, the robot goes up and down stairs. It measures the size of stairs when
going up and down the first step, and therefore the measurement process does not cause this robot to lose any time. The computer
which controls the motion of the robot needs no complicated calculations as other legged robots do. The mechanism of this
robot and the control algorithm are described in this paper. This robot will be developed as a wheelchair with a stair climbing
mechanism for disabled and elderly people in the near future.
This work was presented, in part, at the International Symposium on Artificial Life and Robotics, Oita, Japan, February 18–20,
1996 相似文献
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Werner Neubauer 《Robotics and Autonomous Systems》1993,11(3-4):163-169
Different implementations of remote controlled robots exist that can inspect and repair the interior of a pipe or duct. For this purpose they have video cameras and tools like a welding set or a grinder on board. This paper describes an approach with articulated legs that are pushed against the walls to obtain a grip. In contrast to wheels, for instance, legs overcome problems of common pipe inspection robots, like branches or obstacles in the pipe. The robot has a hierarchical control architecture with reflexive behaviour in the lower layers. In a two-dimensional simulation environment the robot performed successfully in several shapes of pipes. The results show that simple reflexive behaviour is sufficient to overcome even complex shapes. In the tested environment, reflexive behaviour prevented deadlock and ensured the robot's safe operation. 相似文献
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《Advanced Robotics》2013,27(6):635-650
This paper presents the development of a steerable, wheel-type, in-pipe robot and its path planning. First, we show the construction of the robot and demonstrate its locomotion inside a pipe. The robot is composed of two wheel frames and an extendable arm which links the centers of the two wheel frames. The arm presses the frames against the interior wall of a pipe to support the robot. The wheels of the frames are steered independently so that the robot can turn within a small radius of rotation. Experimental results of the locomotion show that the steering control is effective for autonomous navigation to avoid obstacles and to enter the joint spaces of L- and T-shaped pipes. Generally, autonomous navigation is difficult for wheel-type robots because the steering angles required to travel along a desired path are not easily determined. In our previous work, the relationship between the steering angles and locomotion trajectories in a pipe has already been analyzed. Using this analysis, we propose the path planning in pipes. 相似文献
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Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree‐of‐freedom (DOF) motion on a two‐dimensional plane. In this research, a new class of omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR‐SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR‐SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve performance of the mobile robot. The OMR‐SOW with four omnidirectional wheels has been developed in this research. Kinematics and dynamics of this robot will be analyzed in detail. Various tests have been conducted to demonstrate the validity and feasibility of the proposed mechanism and control algorithm. © 2004 Wiley Periodicals, Inc. 相似文献