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contributor authorLi, Te
contributor authorMa, Shugen
contributor authorLi, Bin
contributor authorWang, Minghui
contributor authorLi, Zhiqiang
contributor authorWang, Yongqing
date accessioned2017-11-25T07:18:21Z
date available2017-11-25T07:18:21Z
date copyright2017/31/8
date issued2017
identifier issn1942-4302
identifier otherjmr_009_05_051014.pdf
identifier urihttp://138.201.223.254:8080/yetl1/handle/yetl/4235146
description abstractThe in-pipe robots based on screw drive mechanism are very promising in the aspects of pipe inspecting and maintaining. The novel design of an in-pipe robot with differential screw angles is presented for the curved pipes and vertical straight pipes. The robot is mainly composed of the screw drive mechanism, adaptive linkage mechanism, and the elastic arm mechanism. The alternative adjusting abilities of the mobile velocity and traction, and the adaptive steering ability in curved pipes, are achieved by the special designs. A parameter design approach in consideration of the climbing and steering abilities is proposed in detail for the springs and length of the elastic arms. The results are applied to the prototype design of the robot. In several groups of experiments, the proposed robot is competent to pass through curved pipes and vertical straight pipes. The results prove that the proposed mechanism and parameter design approach are both valid.
publisherThe American Society of Mechanical Engineers (ASME)
titleDevelopment of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes
typeJournal Paper
journal volume9
journal issue5
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4037617
journal fristpage51014
journal lastpage051014-11
treeJournal of Mechanisms and Robotics:;2017:;volume( 009 ):;issue: 005
contenttypeFulltext


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