Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes
Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes
复制标题
设计穿过不同弯管的螺杆传动管内机器人的公理化设计方法
DOI：
10.1007/s11431-015-5840-1
复制
发表时间：
2016-01
期刊：
影响因子：
--
通讯作者：
Wang YueChao
中科院分区：
文献类型：
--
作者：
Ma ShuGen;Li Bin;Wang MingHui;Wang YueChao
A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design (AD) theory is applied to evaluate and analyze the existing designs. Then an uncoupled concept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the proposed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the motion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots that have inclining-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping.
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影响因子：
--
作者：
Dewei Tang
通讯作者：
Dewei Tang
DOI：
10.1109/robio.2007.4522298
发表时间：
2007-12
期刊：
2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)
影响因子：
--
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影响因子：
4.2
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发表时间：
2014-11
期刊：
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
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通讯作者：
Seung Ung Yang;H. Kim;Jung Seok Suh;Y. Choi;Hyeong Min Mun;C. Park;H. Moon;Hyoukryeol Choi
DOI：
10.1109/robot.1999.770450
发表时间：
1999
期刊：
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影响因子：
--
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通讯作者：
S. Hirose;H. Ohno;T. Mitsui;K. Suyama