Title :
Scheme Design of Extended Configuration for in-Pipe Robot Adapting Mechanism
Author :
Jun, Chen ; Tao, Chen ; Zongquan, Deng
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
The configuration design of in-pipe robot adapting mechanism has a significant impact on its motion performance. By analyzing the operation principle and structure composition of adapting mechanism, the four-bar linkage is chosen as basic unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, the configuration schemes that meet the given design constraints are also synthesized, and the application examples of specific mechanisms are given. Which provides a new method for configuration extended design of in-pipe robot adapting mechanism.
Keywords :
couplings; design engineering; mobile robots; motion estimation; path planning; design constraint; four bar linkage; in-pipe robot adapting mechanism; linkage combination; motion performance; operation principle; prismatic pair; topological combination; Barium; Couplings; Force; Kinematics; Mobile robots; Wheels; adapting mechanism; extended configuration; in-pipe robot; topological combination;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.623
