Performance of giant magnetostrictive material (GMM) is introduced. Principleof work, basic structure and key techniques of giant magnetostrictive actuator (GMA) are analyzed.Its dynamic models of magneto-mechanical c...Performance of giant magnetostrictive material (GMM) is introduced. Principleof work, basic structure and key techniques of giant magnetostrictive actuator (GMA) are analyzed.Its dynamic models of magneto-mechanical coupling are established. The structure and principle ofthe pneumatic servo valve and the micro pipe robot with new homemade GMM are presented. Theexperiment is carried out under typical working conditions. The experiment results show that the GMMpneumatic servo valve has wide pressure control characteristics, good linearity, and fast responsespeed. The movement principles of the GMM robot system are reliably feasible and its maximal movingspeed is about 8 mm/s. It is preferable to the driving frequency of the robot within 100 approx 300Hz.展开更多
Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In ...Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes.展开更多
Focusing on the speed control problem, this paper presents a study on the stick slip phenomena of cable driven by pipe robot and the critical conditions of stick slip. By dynamics simulation and field experiments, the...Focusing on the speed control problem, this paper presents a study on the stick slip phenomena of cable driven by pipe robot and the critical conditions of stick slip. By dynamics simulation and field experiments, the theoretical analysis has been proved to be practical and valid. The result is of considerable theoretical value in the speed control for pipe robot on receiving and putting line.展开更多
An experimental bimorph piezoelectric element (PZT) actuator for small piperobot is developed. The robot can move in φ20 mm pipe, and can carry a CCD camera for detectingcracks or fine holes on inner surface of pipe....An experimental bimorph piezoelectric element (PZT) actuator for small piperobot is developed. The robot can move in φ20 mm pipe, and can carry a CCD camera for detectingcracks or fine holes on inner surface of pipe. The velocity of the robot can reach 17～22 mm/s forvertical pipe up/down, respectively. Moving principle and its performance characteristics arepresented.展开更多
A new type of in-pipe mobile robot was designed and developed on the basis of w heel in-pipe robot and crawler in-pipe robot. The three sets of driving wheels circumferentially 120° apart in the cross section, bo...A new type of in-pipe mobile robot was designed and developed on the basis of w heel in-pipe robot and crawler in-pipe robot. The three sets of driving wheels circumferentially 120° apart in the cross section, both front and rear driving wheels are distributed on the same parallelogram mechanis m. The driving motor drives the three sets of driving wheels by worm couple, the regulating motor makes the three sets of driving wheels push against the pipe inwall with stable and adequate pressing force by the ball screw pair and p ressure sensor, so the in-pipe robot can provide adequate and stable traction force. The robot mechanism is simple and sm all in size and work reliably . It is particularly suitable to the pipe with diameter 400～650 mm.展开更多
The presented system consists of field devices, a control system and a host computer system. The field devices, which are composed of an in-pipe micro-robot, a displacement sensor, a curvature sensor, and an inner sur...The presented system consists of field devices, a control system and a host computer system. The field devices, which are composed of an in-pipe micro-robot, a displacement sensor, a curvature sensor, and an inner surface measurement unit, can go into the pipe to get the data of displace- ment and axis curvature, and the shape data of the inner surface. With the conic-shape laser beam shot by the inner surface measurement unit, the intersectional curve between the laser beam and the inner-surface of the tested pipe can be calculated in the local coordination system （LCS） of the inner surface measurement unit. The relation between the LCS and the global coordination system （GCS） can be deduced, too. After the robot reaches the end of the pipe, all measured intersectional curves can be translated into the same coordination system to become a point cloud of the inner surface of the pipe according to the relations between LCS and GCS. Depending on this points cloud, the CAD model of the inner surface of the pipe can be reconstructed easily with reverse engineering tools, and the feature of flaw of the pipe can be obtained with flaw analysis tools.展开更多
The pipe inspection robot system is developed for automatic inspection of gas pipeline with pipe diameter between 400 mm and 650 mm. It is composed of a pipe robot crawling mechanism controlled by remote network syste...The pipe inspection robot system is developed for automatic inspection of gas pipeline with pipe diameter between 400 mm and 650 mm. It is composed of a pipe robot crawling mechanism controlled by remote network system, nondestructive examination sensor system, ground working station and so on. This paper presents the pipe inspection robot system design, the Key technique and the performance experiment of the robot. The main performance index of the pipe robot system prototype has reached domestic advanced level. The prototype has also the technical potential to be developed as a product used in industry for periodic check of main gas/oil pipe.展开更多
All-position robots are widely applied in the welding of complicated parts.Welding of intersecting pipes is one of the most typical tasks.The welding seam is a complicated saddle-like space curve,which puts a great ch...All-position robots are widely applied in the welding of complicated parts.Welding of intersecting pipes is one of the most typical tasks.The welding seam is a complicated saddle-like space curve,which puts a great challenge to the pose planning of end-effector.The special robots designed specifically for this kind of tasks are rare in China and lack sufficient theoretical research.In this paper,a systematic research on the pose planning for the end-effectors of robot in the welding of intersecting pipes is conducted. First,the intersecting curve of pipes is mathematically analyzed.The mathematical model of the most general intersecting curve of pipes is derived,and several special forms of this model in degraded situations are also discussed.A new pose planning approach of bisecting angle in main normal plane（BAMNP） for the welding-gun is proposed by using differential geometry and the comparison with the traditional bisecting angle in axial rotation plane（BAARP） method is also analytically conducted.The optimal pose of the welding-gun is to make the orientation posed at the center of the small space formed by the two cylinders and the intersecting curve to help the welding-pool run smoothly.The BAMNP method can make sure the pose vertical to the curve and center between the two cylinders at the same time,therefore its performance in welding-technique is superior to the BAARP method.By using the traditional BAARP method,the robot structure can become simpler and easier to be controlled,because one degree of freedom（DOF） of the robot can be reduced.For the special case of perpendicular intersecting,an index is constructed to evaluate the quality of welding technique in the process of welding.The effect of different combination of pipe size on this index is also discussed.On the basis of practical consideration,selection principle for BAARP and BAMNP is described.The simulations of those two methods for a serial joint-type robot are made in MATLAB,and the simulation results are consistent to the analysis.The mathematical model and the proposed new pose-planning method will lay a solid foundation for future researches on the control and design of all-position welding robots.展开更多
It is required to develop micro machine for inspection and maintenance of defects inside small pipe with diameter smaller than one inch. Considering the advantages of electromagnetic actuators with simple mechanism, h...It is required to develop micro machine for inspection and maintenance of defects inside small pipe with diameter smaller than one inch. Considering the advantages of electromagnetic actuators with simple mechanism, high response, convenience to control and fabricate, we tried to develop a new micro robot in small pipe based on interaction principle of electromagnetic attraction and spring force. This paper describes its structure and design. The dimension of the prototype is diameter of 15 mm, length of 30 mm and weight of 25 g. It can climb in small pipe of diameter of 20 mm with a speed of 6～8 mm/s in horizontal or in vertical situation.展开更多
A geometric model was built to represent the position relation of a wheeled mobile robot relative to a pipe. The relationship between the deviation of falling off for the robot and the curvature of the pipe was formul...A geometric model was built to represent the position relation of a wheeled mobile robot relative to a pipe. The relationship between the deviation of falling off for the robot and the curvature of the pipe was formulated quantitatively. Based on the relationship, a mathematical model was derived and a fuzzy control algorithm for the robot was developed. Simulations were carried out to confirm the dynamic index and the validity of the mathematical model of the fuzzy control algorithm for seam tracking of pipe welding. Experiments for pipe welding with the mobile robot were also carried out to verify the algorithm, and the results showed that the seam has a good quality with a preferable appearance of weld.展开更多
The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside s...The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.展开更多
A new method to drive and control micro in-pipe robot by means of magneticfield outside pipe is put forward, in which wireless micro robot can move forward driven by thevibration of its legs through converting magneti...A new method to drive and control micro in-pipe robot by means of magneticfield outside pipe is put forward, in which wireless micro robot can move forward driven by thevibration of its legs through converting magnetic energy into mechanical one under the action ofpiezomagnetism and magnetomechanical coupling of its micro GMA, when time varied oscillatingmagnetic field with different frequency applied outside pipe. Firstly its systematical structure andoperation principle are introduced, and energy converting process from outside magnetic one intomechanical one is analyzed through setting up the magnetic and mechanical dynamic model of GMA andestablishing dynamic model of two stage amplifier of mobile earner. Robot systematical experimentsshow the correctness of the theoretical analysis and its feasibility. As a result, drive and controlmethod without cable through outside magnetic field is realized.展开更多
基金This project is supported by National Natural Science Foundation of China (No.59835160).
文摘Performance of giant magnetostrictive material (GMM) is introduced. Principleof work, basic structure and key techniques of giant magnetostrictive actuator (GMA) are analyzed.Its dynamic models of magneto-mechanical coupling are established. The structure and principle ofthe pneumatic servo valve and the micro pipe robot with new homemade GMM are presented. Theexperiment is carried out under typical working conditions. The experiment results show that the GMMpneumatic servo valve has wide pressure control characteristics, good linearity, and fast responsespeed. The movement principles of the GMM robot system are reliably feasible and its maximal movingspeed is about 8 mm/s. It is preferable to the driving frequency of the robot within 100 approx 300Hz.
基金Supported by National Natural Science Foundation of China(Grant No.61273345)
文摘Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes.
文摘Focusing on the speed control problem, this paper presents a study on the stick slip phenomena of cable driven by pipe robot and the critical conditions of stick slip. By dynamics simulation and field experiments, the theoretical analysis has been proved to be practical and valid. The result is of considerable theoretical value in the speed control for pipe robot on receiving and putting line.
基金This project is supported by National Natural Science Foundation of China (No.69889501).
文摘An experimental bimorph piezoelectric element (PZT) actuator for small piperobot is developed. The robot can move in φ20 mm pipe, and can carry a CCD camera for detectingcracks or fine holes on inner surface of pipe. The velocity of the robot can reach 17～22 mm/s forvertical pipe up/down, respectively. Moving principle and its performance characteristics arepresented.
基金High Technology Research and Development( 863 ) Programe of China ( No.2002AA442110) The Cooperative Fund ofYunnan Province and Shanghai JiaotongUniv.(No.2001KABAA00A025)
文摘A new type of in-pipe mobile robot was designed and developed on the basis of w heel in-pipe robot and crawler in-pipe robot. The three sets of driving wheels circumferentially 120° apart in the cross section, both front and rear driving wheels are distributed on the same parallelogram mechanis m. The driving motor drives the three sets of driving wheels by worm couple, the regulating motor makes the three sets of driving wheels push against the pipe inwall with stable and adequate pressing force by the ball screw pair and p ressure sensor, so the in-pipe robot can provide adequate and stable traction force. The robot mechanism is simple and sm all in size and work reliably . It is particularly suitable to the pipe with diameter 400～650 mm.
基金This project is supported by National Hi-tech Research and DevelopmentProgram of China (863 program, No.2001AA423130).
文摘The presented system consists of field devices, a control system and a host computer system. The field devices, which are composed of an in-pipe micro-robot, a displacement sensor, a curvature sensor, and an inner surface measurement unit, can go into the pipe to get the data of displace- ment and axis curvature, and the shape data of the inner surface. With the conic-shape laser beam shot by the inner surface measurement unit, the intersectional curve between the laser beam and the inner-surface of the tested pipe can be calculated in the local coordination system （LCS） of the inner surface measurement unit. The relation between the LCS and the global coordination system （GCS） can be deduced, too. After the robot reaches the end of the pipe, all measured intersectional curves can be translated into the same coordination system to become a point cloud of the inner surface of the pipe according to the relations between LCS and GCS. Depending on this points cloud, the CAD model of the inner surface of the pipe can be reconstructed easily with reverse engineering tools, and the feature of flaw of the pipe can be obtained with flaw analysis tools.
基金This Research is Supported by the High Technology Research and Development (863) Programme of China(No.:2002AA442110)
文摘The pipe inspection robot system is developed for automatic inspection of gas pipeline with pipe diameter between 400 mm and 650 mm. It is composed of a pipe robot crawling mechanism controlled by remote network system, nondestructive examination sensor system, ground working station and so on. This paper presents the pipe inspection robot system design, the Key technique and the performance experiment of the robot. The main performance index of the pipe robot system prototype has reached domestic advanced level. The prototype has also the technical potential to be developed as a product used in industry for periodic check of main gas/oil pipe.
基金supported by National Nautural Science Foundation of China(Grant No.50775002)Key Science and Technology Research Program of Beijing Municipal Commission of Education of China(Grant No.KZ200910005003)
文摘All-position robots are widely applied in the welding of complicated parts.Welding of intersecting pipes is one of the most typical tasks.The welding seam is a complicated saddle-like space curve,which puts a great challenge to the pose planning of end-effector.The special robots designed specifically for this kind of tasks are rare in China and lack sufficient theoretical research.In this paper,a systematic research on the pose planning for the end-effectors of robot in the welding of intersecting pipes is conducted. First,the intersecting curve of pipes is mathematically analyzed.The mathematical model of the most general intersecting curve of pipes is derived,and several special forms of this model in degraded situations are also discussed.A new pose planning approach of bisecting angle in main normal plane（BAMNP） for the welding-gun is proposed by using differential geometry and the comparison with the traditional bisecting angle in axial rotation plane（BAARP） method is also analytically conducted.The optimal pose of the welding-gun is to make the orientation posed at the center of the small space formed by the two cylinders and the intersecting curve to help the welding-pool run smoothly.The BAMNP method can make sure the pose vertical to the curve and center between the two cylinders at the same time,therefore its performance in welding-technique is superior to the BAARP method.By using the traditional BAARP method,the robot structure can become simpler and easier to be controlled,because one degree of freedom（DOF） of the robot can be reduced.For the special case of perpendicular intersecting,an index is constructed to evaluate the quality of welding technique in the process of welding.The effect of different combination of pipe size on this index is also discussed.On the basis of practical consideration,selection principle for BAARP and BAMNP is described.The simulations of those two methods for a serial joint-type robot are made in MATLAB,and the simulation results are consistent to the analysis.The mathematical model and the proposed new pose-planning method will lay a solid foundation for future researches on the control and design of all-position welding robots.
文摘It is required to develop micro machine for inspection and maintenance of defects inside small pipe with diameter smaller than one inch. Considering the advantages of electromagnetic actuators with simple mechanism, high response, convenience to control and fabricate, we tried to develop a new micro robot in small pipe based on interaction principle of electromagnetic attraction and spring force. This paper describes its structure and design. The dimension of the prototype is diameter of 15 mm, length of 30 mm and weight of 25 g. It can climb in small pipe of diameter of 20 mm with a speed of 6～8 mm/s in horizontal or in vertical situation.
基金This paper is supported by National Natural Science Foundation of China （ Grant No. 51275051 ）, the innovation and improvement plan of Beijing Education Commission （Grant No. TJSHG201510017023 ）
文摘A geometric model was built to represent the position relation of a wheeled mobile robot relative to a pipe. The relationship between the deviation of falling off for the robot and the curvature of the pipe was formulated quantitatively. Based on the relationship, a mathematical model was derived and a fuzzy control algorithm for the robot was developed. Simulations were carried out to confirm the dynamic index and the validity of the mathematical model of the fuzzy control algorithm for seam tracking of pipe welding. Experiments for pipe welding with the mobile robot were also carried out to verify the algorithm, and the results showed that the seam has a good quality with a preferable appearance of weld.
基金Supported by National High TechR&DProgramin China!( 86 3 5 1 2 970 4 2 6 86 3 5 1 2 980 4 1 8)
文摘The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.
基金This project is supported by National Natural Science Foundation of China (No.60275034) and Provincical Natural Science Foundation of Liaoning (No. 20032119)
文摘A new method to drive and control micro in-pipe robot by means of magneticfield outside pipe is put forward, in which wireless micro robot can move forward driven by thevibration of its legs through converting magnetic energy into mechanical one under the action ofpiezomagnetism and magnetomechanical coupling of its micro GMA, when time varied oscillatingmagnetic field with different frequency applied outside pipe. Firstly its systematical structure andoperation principle are introduced, and energy converting process from outside magnetic one intomechanical one is analyzed through setting up the magnetic and mechanical dynamic model of GMA andestablishing dynamic model of two stage amplifier of mobile earner. Robot systematical experimentsshow the correctness of the theoretical analysis and its feasibility. As a result, drive and controlmethod without cable through outside magnetic field is realized.
