Traveling property of wheel-type pipeline robot with different configurations

• 作 者: TANG De-wei LI Qing-kai JIANG
• 机 构: State Key Laboratory of Robotics and System
• 出 处: 北京理工大学学报（英文版）
• 发表日期: 2004年期
• 关键词: pipeline robot movement in elbow pose model ratios of driving speed experiment v
• 基金项目: the High-Tech Research and Development Program of China;the “ 111 ” Project;the Self-Planned Task of State Key Laboratory of Robotics and System (HIT)

In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline,the model of drive ratios is proposed aiming at the pipeline robots with different configurations.Through the movement analysis of the robot with different configurations in elbow section,the pose model of the robot is established,and the coordinates of the wheel centers and the contact points can be got through the calculation of the pose model.Based on the pose model established,the corresponding drive ratios are obtained combining with the relations of the velocities of wheel centers and rotative velocities of wheels under the movement condition with no interference.The virtual simulations and prototype experiments are carried out,and the drive ratios accuracy of the model when the robot moved in elbow without interference is validated.