| Dynamics analysis of drawing cables for pipe robot over long distance |
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| 作者姓名： | 邓宗全 王少纯 胡明 姜生源 |
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| 作者单位： | School of Mechatronic Engineering，Harbin Institute of Technology，School of Mechatronic Engineering，Harbin Institute of Technology，School of Mechatronic Engineering，Harbin Institute of Technology，School of Mechatronic Engineering，Harbin Institute of Technology Harbin 150001，China，Harbin 150001，China，Harbin 150001，China，Harbin 150001，China |
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| 摘 要： | 0 ＩＮＴＲＯＤＵＣＴＩＯＮＷｈｅｎａｄｒｉｖｉｎｇｓｙｓｔｅｍｗｉｔｈｌｏｗｓｔｉｆｆｎｅｓｓｉｓｄｒｉｖ ｉｎｇａｔａｌｏｗｓｐｅｅｄ,ｔｈｅｓｐｅｅｄｏｆｔｈｅｄｒｉｖｅｎｐａｒｔｓｉｎｔｈｅｓｙｓｔｅｍｉｓｎｏｔｕｎｉｆｏｒｍ .Ｔｈｅｍａｉｎｐｒｏｂｌｅｍｇｅｎｅｒａｔｅｄｄｕｅｔｏｌｏｗｓｐｅｅｄｍｏｖｉｎｇｉｓｓｔｉｃｋ ｓｌｉｐｐｈｅｎｏｍｅｎａ.Ｔｈｅｓｔｉｃｋ ｓｌｉｐｎｏｔｏｎｌｙｄｅｓｔｒｏｙｓｔｈｅｕｎｉｆｏｒｍｉｔｙｏｆｍｏｔｉｏｎ,ｂｕｔａｌｓｏｐｒｏｄｕｃｅｓｓｏｍｅｓｅ…
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Dynamics analysis of drawing cables for pipe robot over long distance |
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| DENG Zong quan,WANG Shao chun,HU Ming,JIANG Sheng yuan.Dynamics analysis of drawing cables for pipe robot over long distance[J].Journal of Harbin Institute of Technology,2003,10(1). |
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| Authors: | DENG Zong quan WANG Shao chun HU Ming JIANG Sheng yuan |
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| Abstract: | Focusing on the speed control problem, this paper presents a study on the stick slip phenomena of cable driven by pipe robot and the critical conditions of stick slip. By dynamics simulation and field experiments, the theoretical analysis has been proved to be practical and valid. The result is of considerable theoretical value in the speed control for pipe robot on receiving and putting line. |
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| Keywords: | pipe robot cable stick slip phenomena speed control |
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