DocumentCode :
538713
Title :
Configuration Design Method for In-pipe Robot Locomotion Mechanism
Author :
Chen, Jun ; Chen, Tao ; Deng, Zong-quan
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Volume :
1
fYear :
2010
fDate :
18-20 Dec. 2010
Firstpage :
426
Lastpage :
429
Abstract :
The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific kinematic chain atlas that meet the given design constraints can be synthesized. Finally, the application examples adopting the derivative new mechanisms are given. Which provides the systematic methods for in-pipe robot configuration design.
Keywords :
legged locomotion; robot kinematics; topology; configuration design method; four bar linkage; in pipe robot locomotion mechanism; kinematic chain regeneration; linkage combination; motion performance; prismatic pair; topological combination; adapting mechanism; in-pipe robot; kinematic chain atlas; topological combination;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Digital Manufacturing and Automation (ICDMA), 2010 International Conference on
Conference_Location :
ChangSha
Print_ISBN :
978-0-7695-4286-7
Type :
conf
DOI :
10.1109/ICDMA.2010.188
Filename :
5701188
Link To Document :
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