论文标题
管道机器人
In-Pipe Robot
论文作者
论文摘要
本文介绍了一个内管攀岩机器人的布置，该机器人使用巧妙的差分来探索线条的复杂关联。标准的轮毂/持续管道内攀岩机器人在管道转弯时倾斜并进行滑动。该机制有助于实现在开发过程中清除机器人轨迹中滑动和拖放的最终结果。提出的差异理解了标准两种晶体差异的沿线限制，这是带有三个结果的差分的基本时间。该机制通过清除任何唯一控件的先决条件来确定地考虑了线路关联内每个轨道上应用的功率的机器人的轨道步伐。机器人在线网络中的娱乐方式在不同的轴承和管道上不滑动的娱乐表明拟议的布置的娱乐性。
This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while exploring in pipe turns. The mechanism helps in achieving the first eventual outcome of clearing out slip and drag in the robot tracks during development. The proposed differential comprehends the down to earth limits of the standard two-yield differential, which is cultivated the underlying time for a differential with three outcomes. The mechanism definitively changes the track paces of the robot considering the powers applied on each track inside the line association, by clearing out the prerequisite for any unique control. The entertainment of the robot crossing in the line network in different bearings and in pipe-turns without slip shows the proposed arrangement's ampleness.
