摘要
管内步伐式行走机器人由太原理工大学研制成功，并己于１９９４年１２月通过了山西省科委的技术鉴定．该机器人可在管内双向行走，自动随管道弯度转向．本文详细阐述了机器人的机构，在力学分析的基础上介绍了脚靴的自锁机构以及牵引力和脚靴撑紧力间的关系，论述了产生大牵引力而不打滑这一管内步伐式机器人的特点．
The in pipe step by step walking robot is made by Taiyuan University of Technology, and it has passed the technical appraisement of Shanxi Provincial Scienc tific and technological Committee. The robot can walk forward and backward in the pipe and turn automatically along the pipe bends. This paper describes in detail the robot's structure and discusses the foot's self locking mechanism and the relationship between the traction and the force against the wall, based on mechanical analysis. It also explains its characteristics of slippage avoidance while providing powerful traction.
出处
《机器人》
EI
CSCD
北大核心
1998年第5期356-361,367,共7页
Robot
关键词
管内机器人
步伐式
防滑
机器人
In pipe robot, step by step walking, slippage avoidance, powerful traction
