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A unilateral self-locking mechanism (USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for
pipeline inspection. The USM was basically composed of a cam, a torsional spring and an axis. The self-locking and virtual
work principles were applied to studying the basic self-locking condition of the USM. In order to make the cooperation between
the crutch and telescopic mechanism more harmonical, the unlocking time of the USM was calculated. A set of parameters were
selected to build a virtual model and fabricate a prototype. Both the simulation and performance experiments were carried
out in a pipe with a nominal inside diameter of 160 mm. The results show that USM enables the robot to move quickly in one
way, and in the other way it helps the robot get self-locking with the pipe wall. The traction of the inchworm robot can rise
to 1.2 kN, beyond the limitation of friction of 0.497 kN. 相似文献
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三参数Weibull分布竞争失效场合加速寿命试验统计分析 总被引:1,自引:1,他引:0
三参数Weibull分布(TPWD)对于描述具有渐变性失效特征的失效模式,如机械产品磨损、疲劳、腐蚀、老化等的寿命分布具有更加明确的物理意义且具有很强的数据拟合能力,在产品可靠性分析中得到广泛应用。根据TPWD特点和竞争失效加速寿命试验(ALT)统计分析的工程实际,研究了TPWD竞争失效恒定应力ALT统计分析方法,建立了参数估计的极大似然估计(MLE)模型。实例结果表明,文中建立的TPWD的ALT统计分析模型是正确的,符合产品寿命实际,具有很好的估计效果。 相似文献
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三参数Weibull分布竞争失效场合变应力加速寿命试验统计分析 总被引:2,自引:0,他引:2
三参数Weibull分布(Three-parameter Weibull distribution,TPWD)作为一种应用广泛的分布形式,具有很强的数据拟合能力且对于描述具有渐变性失效特征的失效模式如磨损、疲劳、腐蚀、老化等的的寿命分布具有更加明确的物理意义。针对产品失效模式为TPWD的竞争失效场合加速寿命试验统计分析的需求,根据TPWD的特点,在竞争失效加速寿命试验统计分析基本模型的基础上系统研究TPWD竞争失效变应力加速寿命试验统计分析方法,建立参数估计的极大似然模型并进行实例验证。实例结果表明,建立的TPWD竞争失效变应力加速寿命试验统计分析方法和模型是正确可行的,具有很好的估计效果。 相似文献
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