In order to improve the elbow passing performance and different diameter adaptability of pipelinerobot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to a...
详细信息
In order to improve the elbow passing performance and different diameter adaptability of pipelinerobot,a supported crawler pipeline robot is designed,which adopts screw nut mechanism and hinge four-bar mechanism to adapt to the complex environment such as variable diameter pipeline and *** steering characteristics passing through the elbow are studied,the kinematic of pipelinerobot bending steering is established,the geometric constraint(GC)and steering constraint(SC)in the elbow are analyzed,and the steering experiment is *** results show that the robot can pass through the elbow by the SC *** SC model can reduce the motor current and energy consumption when the robot passes through the elbow.
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