Research on Walking Principle of a Worm Pipe Robot

Feng Ping Xu; Yan Zhou; Zhi Cong Zhao

doi:10.4028/www.scientific.net/AMM.472.115

Paper Titles

Parameter Sensitivity Analysis of Gear Contact in Gear-Bearing-Rotor System Based on Romax
p.91

Investigation of Crack Line Offset of Fracture Splitting Connecting Rod
p.100

Near-Field Noise Prediction for Landing Gear Based on Detached Eddy Simulations
p.105

Fatigue Life Analysis of Auger Stem in Soft Coal Seam
p.111

Research on Walking Principle of a Worm Pipe Robot
p.115

Harvester Threshing Device Parameters Modular Design Based on Solidworks
p.120

A New Way to Simulate the Fluid Structure Interaction between the Bioprosthetic Heart Valve and Blood: FE-SPH Method
p.125

The Temperature Field Analysis about the Thermal Assembly Process of the Roller Sleeve of HFCG160 Roller Press
p.131

Based on ANSYS Large Diameter Metallic High-Speed Rotating Disk Modal Analysis
p.136

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 472Research on Walking Principle of a Worm Pipe Robot

Research on Walking Principle of a Worm Pipe Robot

Abstract:

The new type worm pipe robot was put forward based on Stewart parallel mechanism by the method which move or rest platform is alternated. The kinematical model was set up by the method of coordinate transform for the robot in this paper, and the walking principle was analyzed when the robot moved in straight pipe and elbow. Further more the virtual prototype was made and kinematical simulation analysis had been accomplished. By the walking simulation when the robot moved in straight pipe and elbow it is validated that the walking principle established for the robot is correct. The robot can has bigger tensile draw.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 472)

Pages:

115-119

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.472.115

Citation:

Cite this paper

Online since:

January 2014

Authors:

Feng Ping Xu, Yan Zhou, Zhi Cong Zhao

Keywords:

Parallel Mechanism, Simulation Analysis, Virtual Prototype, Worm Pipe Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] R. Aracil, R. Saltaren, O. Reinoso. Parallel robots for autonomous climbing along tubular structures [J]. Robotics and Autonomous Systems 2003 (42) 125-134.

DOI: 10.1016/s0921-8890(02)00360-3

Google Scholar

[2] M. Almonacid, R. J. Saltarén, R. Aracil, and O. Reinoso. Motion Planning of a Climbing Parallel Robot. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 19, NO. 3, JUNE 2003 485-490.

DOI: 10.1109/tra.2003.810238

Google Scholar

[3] Jinsong Wang, Xin-Jun Liu. Analysis of a novel cylindrical 3-DoF parallel robot [J]. Robotics and Autonomous Systems 42 (2003) 31–46.

DOI: 10.1016/s0921-8890(02)00296-8

Google Scholar

[4] Xu feng ping, Deng zong quan. The research of pipe robot walking in bend [J]. Robot, 2004, 26(2): 155-160.

Google Scholar