Experimental Research on Mechanical Adaptability Properties of Tri-Axis Differential-Drive In-Pipe Robot
An off-line analyzing system is developed to investigate the mechanical adaptability properties of tri-axis differential-drive in-pipe robot. It can real-time obtain the reference velocity without trackslip and the practical velocity for the driving wheels, load carrying properties for the in-pipe robot, as well as the current and voltage of the driving motor. The mechanical adaptability property indexes, such as the driving efficiency, adaptive precision and differential velocity property, are proposed and determined in experiments for the in-pipe robot. It is indicated that the tri-axis differential-drive is provided with the high driving efficiency and differential velocity precision, verifying its remarkable adaptability to various in-pipe configuration.
Chuansheng Wang, Lianxiang Ma and Weiming Yang
L. X. Sun et al., "Experimental Research on Mechanical Adaptability Properties of Tri-Axis Differential-Drive In-Pipe Robot", Advanced Materials Research, Vol. 221, pp. 175-179, 2011