DocumentCode :
3666587
Title :
Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis
Author :
Yi Lu;Jingjing Yu;Chunping Sui;Jianda Han
Author_Institution :
College of Mech Eng, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
fYear :
2015
fDate :
6/1/2015 12:00:00 AM
Firstpage :
42
Lastpage :
47
Abstract :
An in-pipe robot must be able to adapt to the various geometric changes of pipes and have large enough load carrying capacity in order to move freely in industry pipe and drag heavy load. A novel in-pipe 3SPR/3RPS type parallel manipulator is proposed and its kinematics is analyzed in this paper. First, an in-pipe parallel manipulator with multi-foot is designed, and its principle and characteristics are explained. Second, the kinematics formulae are derived for solving the displacement, velocity and acceleration of foot mechanism and parallel manipulator. Third, the statics formulae are derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator. Finally, an analytic example is given for solving kinematics and statics of the in-pipe parallel manipulator and analytic solutions are verified by simulation solution.
Keywords :
"Foot","Force","Legged locomotion","Kinematics","Manipulators"
Publisher :
ieee
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on
Print_ISBN :
978-1-4799-8728-3
Type :
conf
DOI :
10.1109/CYBER.2015.7287907
Filename :
7287907
Link To Document :
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