摘要
介绍了管内机器人代表性的驱动方式,总结出轮式驱动的典型变径机构设计特点及变径方式。通过建立驱动轮力分析模型,根据推导出的封闭力与变径参数间的非线性关系,具体研究了变径参数选择对封闭力的影响规律,并详细分析了影响变径能力的原因,为管内机器人的设计及性能评价提供了一定的理论依据。
The typical driving modes of in-pipe robot were introduced,and the typical design features and adjusting manner for wheel-driven typical adjusting mechanism were summarized also in this paper.By establishing the force analysis model of driving wheel,the affect law of adjusting parameters selection to close force was researched specifically based on the non-linear relationship between close force and adjusting parameters.And the reasons that influence adjusting ability were analyzed in details,which provide the theoretical basis for in-pipe robot design and performance evaluation.
出处
《机械设计》
CSCD
北大核心
2010年第10期58-61,共4页
Journal of Machine Design
基金
机器人技术与系统国家重点实验室开放研究资助项目(SKLRS2009MS07)
关键词
管内移动机器人
变径机构
力学模型
增力系数
in-pipe robot
adjusting mechanism
dynamics model
amplifying coefficient
