Configuration Design Method for in-Pipe Robot Locomotion Mechanism

摘要：

The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific kinematic chain atlas that meet the given design constraints can be synthesized. Finally, the application examples adopting the derivative new mechanisms are given. Which provides the systematic methods for in-pipe robot configuration design.

关键词： in-pipe robot adapting mechanism topological combination kinematic chain atlas

作者: Jun Chen Tao Chen Zong-quan Deng

作者单位: State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin, Heilongjiang, 150 Linyi Entry-Exit Inspection and Quarantine Bureau Linyi, Shandong, 276034, China School of Mechtronic Engineering Harbin Institute of Technology Harbin,Heilongjiang,150001,China

会议类型: 国际会议

会议名称: 2010 International Conference on Digital Manufacturing and Automation(2010 数字制造与自动化国际会议 ICDMA 2010)

会议地点: 长沙

会议语种:英文

页码: 426-429

在线出版日期: 2010-12-18（万方平台首次上网日期，不代表论文的发表时间）