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    Analysis and Control of an In-Pipe Wheeled Robot With Spiral Moving Capability

    Source: Journal of Autonomous Vehicles and Systems:;2021:;volume( 001 ):;issue: 001::page 011002-1
    Author:
    Yeh, T.-J.
    ,
    Weng, Tzu-Hsiang
    DOI: 10.1115/1.4048376
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This article presents analysis and control of a wheeled robot that can move spirally inside the pipeline. The wheeled robot considered is composed of two mechanical bodies, a pair of differential-drive wheels, a lifting motor, and a steering wheel. The mechatronic design allows the robot to easily press against the inner wall and spiral along pipelines of arbitrary inclination angles. Kinematic analysis shows how the lead angle of the differential-drive wheels and the steering angle should be coordinated so as to achieve stable spiraling. The steady-state force analysis further gives an analytic expression for the threshold torque needed for supporting the robot at different inclination angles. To ensure successful operation of the robot, four control systems that respectively regulate the spiraling speed, the lifting torque, the steering angle, and the lead angle are devised. Particularly for the lead angle control, it is theoretically proved that the feedback measurement can be obtained by performing algebraic operation on signals from a multi-axis gyro. A prototype robot is constructed and is controlled based on the analysis results. Experiments are conducted to verify the robot’s performance on moving spirally in pipelines of different inclination angles.
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      Analysis and Control of an In-Pipe Wheeled Robot With Spiral Moving Capability

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4275956
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    contributor authorYeh, T.-J.
    contributor authorWeng, Tzu-Hsiang
    date accessioned2022-02-04T23:02:05Z
    date available2022-02-04T23:02:05Z
    date copyright1/1/2021 12:00:00 AM
    date issued2021
    identifier issn2690-702X
    identifier otherjavs_1_1_011002.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4275956
    description abstractThis article presents analysis and control of a wheeled robot that can move spirally inside the pipeline. The wheeled robot considered is composed of two mechanical bodies, a pair of differential-drive wheels, a lifting motor, and a steering wheel. The mechatronic design allows the robot to easily press against the inner wall and spiral along pipelines of arbitrary inclination angles. Kinematic analysis shows how the lead angle of the differential-drive wheels and the steering angle should be coordinated so as to achieve stable spiraling. The steady-state force analysis further gives an analytic expression for the threshold torque needed for supporting the robot at different inclination angles. To ensure successful operation of the robot, four control systems that respectively regulate the spiraling speed, the lifting torque, the steering angle, and the lead angle are devised. Particularly for the lead angle control, it is theoretically proved that the feedback measurement can be obtained by performing algebraic operation on signals from a multi-axis gyro. A prototype robot is constructed and is controlled based on the analysis results. Experiments are conducted to verify the robot’s performance on moving spirally in pipelines of different inclination angles.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleAnalysis and Control of an In-Pipe Wheeled Robot With Spiral Moving Capability
    typeJournal Paper
    journal volume1
    journal issue1
    journal titleJournal of Autonomous Vehicles and Systems
    identifier doi10.1115/1.4048376
    journal fristpage011002-1
    journal lastpage011002-9
    page9
    treeJournal of Autonomous Vehicles and Systems:;2021:;volume( 001 ):;issue: 001
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian