| 采用螺旋驱动轮的管道检测用微机器人 |
| |
| 引用本文： | 钱晋武,章亚男,孙麟治,秦新捷,沈耀宗,QIAN Jin-wu,ZHANG Ya-nan,SUN Lin-zhi,QIN Xin-jie,SHEN Yao-zong.采用螺旋驱动轮的管道检测用微机器人[J].上海大学学报(英文版),2000,4(3):235-238. |
| |
| 作者姓名： | 钱晋武 章亚男 孙麟治 秦新捷 沈耀宗 QIAN Jin-wu ZHANG Ya-nan SUN Lin-zhi QIN Xin-jie SHEN Yao-zong |
| |
| 作者单位： | School of Electromechanical Engineering and Automation, Shanghai University, Shanghai 200072, China
|
| |
| 基金项目： | 国家高技术研究发展计划(863计划) |
| |
| 摘 要： |
|
| 收稿时间： | 7 June 1999 |
A pipeline inspection micro robot based on screw motion wheels |
| |
| Jin-wu Qian,Ya-nan Zhang,Lin-zhi Sun,Xin-jie Qin,Yao-zong Shen.A pipeline inspection micro robot based on screw motion wheels[J].Journal of Shanghai University(English Edition),2000,4(3):235-238. |
| |
| Authors: | Jin-wu Qian Ya-nan Zhang Lin-zhi Sun Xin-jie Qin Yao-zong Shen |
| |
| Institution: | School of Electromechanical Engineering and Automation, Shanghai University, Shanghai 200072, China |
| |
| Abstract: | The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation
to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small-diameter pipelines. The robot
inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro
CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw
locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.
Supported by National High-Tech R & D Program in China(863-512-9704-26,863-512-9804-18) |
| |
| Keywords: | micro robot pipe crawler screw motion wheel pipeline inspection |
| 本文献已被 万方数据 SpringerLink 等数据库收录！ |
|
