| 具有转向能力的管内机器人的研究及发展 |
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| 引用本文： | 陈军,韩小秋. 具有转向能力的管内机器人的研究及发展[J]. 机械设计与制造, 2011, 0(4) |
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| 作者姓名： | 陈军 韩小秋 |
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| 作者单位： | 哈尔滨工业大学(威海)机械工程系,威海,264209 |
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| 基金项目： | 机器人技术与系统国家重点实验室开放基金资助 |
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| 摘 要： | 随着管道结构的复杂化,管内机器人的转向能力受到越来越多的重视,已成为评价管内机器人运动性能的指标之一.通过阐述管内机器人的转向能力,介绍了在管内中的转向方式-铰链式、差动驱动式和蠕动式,详细分析了当前国内外几种典型的具有转向能力的管内机器人的结构特点及转向特性.进一步总结出影响转向能力的关键技术,并对其发展趋势作了展望.
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| 关 键 词： | 管道机器人 转向能力 差动驱动 转向特性 |
Research and development on in-pipe robot with steering capability |
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| CHEN Jun,HAN Xiao-qiu. Research and development on in-pipe robot with steering capability[J]. Machinery Design & Manufacture, 2011, 0(4) |
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| Authors: | CHEN Jun HAN Xiao-qiu |
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| Affiliation: | CHEN Jun,HAN Xiao-qiu(Department of Mechanical Engineering,Harbin Institute of Technology at Weihai,Weihai 264209,China) |
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| Abstract: | With the complexity of the pipeline structure,the steering capability of in-pipe robot has aroused more and more attention and has become one of the indicators to evaluate the movement performance of robot inside the pipelines.Through elaborating the steering capability of in-pipe robot,the steering modes inside the pipelines,articulated type,differential-driven and creep-driven,were introduced.Then,the structural and steering characteristics of typical in-pipe robots at home and abroad with steering abilit... |
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| Keywords: | In-pipe robot Steering capability Differential-drive Steering characteristics |
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