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本文研究了蠕动式管内移动机器人的行走过程,提出并实现了超越式管内行走的方法,采用此方法可以提高机器人的行走速度。 引言 随着科学技术的发展,现代化的生产和人们的日常生活中使用了大量管道,多数管道中输送的是具有腐蚀性的介质,有的管道中输送的是剧毒或放射性介质。若这些管道产生裂纹、漏孔会造成介质泄漏,引起事故甚至发生灾难,所以对管道的检查、监测工作非常重要。研制管内移动机器人正是要解决管道检查、监测这一难题。
This paper studies the walking process of mobile robot in peristaltic tube, proposes and realizes the method of walking beyond the tube, and this method can improve the walking speed of the robot. INTRODUCTION With the development of science and technology, a large number of pipes are used in modern production and people’s daily life. Most pipes carry corrosive media, and some pipes send highly toxic or radioactive media. If these pipes are cracked, the leak will cause the medium to leak, causing an accident or even a disaster. Therefore, it is very important to inspect and monitor the pipeline. It is precisely to solve the problem of pipeline inspection and monitoring to develop mobile robot in pipe.