Development of Structure and Behavioral Model for Screw Driving In-pipe Inspection Robot based on Adaptive Mechanism on Legs (CROSBI ID 647602)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Osman, Krešimir ; Kovačić, Zdenko
engleski
Development of Structure and Behavioral Model for Screw Driving In-pipe Inspection Robot based on Adaptive Mechanism on Legs
This paper presents the beginning of research in connection with the development of a pipeline inspection robot. The authors aimed to describe and present a structure and behavior model of a robot designed for inspecting the interior of pipelines to be used for gas distribution. The robot structure comprises a driving section and a driven section, where each has three legs with two ankles. The driven section contains a group of wheel sets adaptable by pressing against the interior wall of the pipeline, thus maintaining balance and stability of the robot, especially when passing through brackets and T-branches in the pipeline. The driven section of the robot is powered by an electric motor and a planetary gearbox where torque is transmitted to the legs with wheels, thus moving the robot based on the screw principle through the interior of the pipeline. In addition, a robot behavior model (mathematical model) was made for the structure presented, including its kinematic and dynamic models.
structure, behavior model, in-pipe inspection robot, screw drive robot, adaptive mechanism
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Podaci o prilogu
619-626.
2017.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 8th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS 2017
Valašek, Michael ; Šika, Zbynek ; Vampola, Tomaš ; Hajžman, Michal ; Polach, Pavel ; Neusser, Zdenek ; Beneš, Petr ; Zavrel, Jan
Prag: Nakladatelstvi ČVUT (CTN)
978-80-01-06713-8
Podaci o skupu
ECCOMAS Thematic Conference on Multibody Dynamics 2017
predavanje
19.06.2017-22.06.2017
Prag, Češka Republika