| 管道机器人弯道处驱动力研究 |
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| 引用本文： | 郭凤,许冯平,邓宗全,彭敏.管道机器人弯道处驱动力研究[J].哈尔滨工业大学学报,2006,38(8):1264-1266. |
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| 作者姓名： | 郭凤 许冯平 邓宗全 彭敏 |
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| 作者单位： | 1. 大庆石油学院,黑龙江,大庆,163318
2. 哈尔滨工业大学,机电学院,哈尔滨,150001 |
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| 摘 要： | 弯道是管道机器人经常遇到的一种障碍,与在直管内行走相比,在弯道处无论是对机器人本体结构和行走方式还是对机器人驱动性能都提出了不同的要求.在管道机器人弯道通过性研究的基础上,对轮式全主动驱动管道机器人在弯道处驱动力的变化以及诸多方面影响因素进行了虚拟实验分析,为是管道机器人弯道自主行走驱动力设计准则提供了数值基础.
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| 关 键 词： | 道机器人 弯道 驱动力特性 影响因素 数值分析 |
| 文章编号： | 0367-6234(2006)08-1264-03 |
| 收稿时间： | 2005-10-10 |
| 修稿时间： | 2005年10月10 |
Research on driving force of pipeline robot in elbow of pipeline |
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| GUO Feng,XU Feng-ping,DENG Zong-quan,PENG Min.Research on driving force of pipeline robot in elbow of pipeline[J].Journal of Harbin Institute of Technology,2006,38(8):1264-1266. |
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| Authors: | GUO Feng XU Feng-ping DENG Zong-quan PENG Min |
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| Affiliation: | 1. Daqing Petroleum Institute Daqing 163318, China, 2. School of Mechtronic Engineering, Harbin Institute of Technology Harbin 150001, China |
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| Abstract: | The elbow of pipeline is one kind of barriers which the pipeline robots frequently encounter,and compared with walking in straight pipe many different requirements of robot main body and walking wheel structure and driving technique are proposed to pipeline robot.On the basis of researching elbow traveling-capability,the virtual test analysis for all-driven wheel pipeline robot was carried out in this paper to study driving force change and many influences factor in elbow.The obtained conclusions were the numeric foundation of driving force design criterion for pipeline robot autonomous walk in pipe. |
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| Keywords: | pipeline robot elbow of pipeline driving force specislity influence factor numerical analysis |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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