三轴差动式管道机器人驱动单元自适应特性实验研究

为验证三轴差动式管道机器人驱动单元机械自适应特性,深层解析三轴差动式驱动单元的机构传动原 理,研制了包含三轴差动驱动单元、模拟运行环境、性能测试系统在内的机器人自适应特性实验系统．以定量评价 三轴差动驱动单元特性为目标,建立了性能指标评价集,客观评价了新型三轴差动驱动单元的性能．实验研究表明, 三轴差动式管道机器人驱动单元对管道环境的几何约束的各种变化具有良好的机械自适应特性．     

三轴差速式管道机器人过弯管时的差速特性及拖动力分析

为解决轮式管道机器人通过弯管时的运动干涉和拖动力下降问题,减小由管道环境约束而引起的传动 件磨损,对一种具有机械自适应能力的轮式管道机器人驱动——三轴差速驱动——进行了深入分析和研究．通过对 三轴差速机构的受力分析,阐述三轴差速机构实现差速的受力原理;对三轴差速式管道机器人的差速特性及拖动力 进行研究,验证采用三轴差速机构的管道机器人具有良好的弯管通过性．     

机械自适应管道机器人的机构原理与仿真分析

针对轮式管道机器人在遇到弯管或不规则管时会发生运动干涉的问题,提出将三轴差动轮系引入管道机器人驱动系统中,使轮式管道机器人具有对管道环境的自动适应性能,并对机械自适应管道机器人的机械结构进行了设计与研究．同时,对管道机器人进行了三维建模及运动仿真分析,验证了应用三轴差动轮系的管道机器人具有较强的弯管适应能力及管内运动的稳定性．该机器人具有适应能力强、结构紧凑、驱动效率高、工作可靠及成本低的特点．     

多节链式移动机器人单元模块研究与设计

为满足多节链式输电线巡检机器人质量轻、驱动元件少的应用需求,利用柔索驱动质量轻的特点,提出一种新型单电机柔索驱动的单元模块,并给出其支撑端切换方法．然后,设计机器人单元模块具体结构及原理样机,并建立单元机构运动模型．通过单元俯仰运动实验及支撑端切换实验,得出单元俯仰角度与仿真结果一致,且支撑端切换过程平稳．实验结果表明单电机柔索驱动方案能减少驱动电机数量、实现支撑端切换、满足机器人的越障需求．     

基于ADAMS的差速器建模与运动仿真分析

差速器在汽车直线行驶和转弯行驶中有重要的作用,差速器内结构复杂,机构较多,包括减速机构、差动轮系机构、传动半轴机构等,故差速器内机构的运动特性十分复杂。车辆上较为常用的是对称式锥齿轮差速器,其各机构的运动特性在各型减速器中较有代表性。首先分析差速器的差速原理,采用adams建立对称式锥齿轮差速器的虚拟样机三维实体模型,然后添加约束和驱动,应用虚拟样机运动仿真模块对该型差速器进行运动仿真。通过对运动仿真的结果进行分析,得出对称式锥齿轮差速器中各构件的运动特性,可以更深入的了解差速器的工作原理。     

体内微型机器人的全方位旋进驱动特性

提出了一种由外旋转磁场驱动的体内微机器人．它以相邻径向异向磁化瓦状多磁极圆筒形NdFeB永磁体为外驱动器，以机器人内嵌同结构的NdFeB永磁体为内驱动器，外驱动器旋转时产生旋转磁场，通过磁机耦合作用于内嵌驱动器形成机器人驱动力矩，在本体外表面螺纹与流体动压力的作用下，实现机器人在管道内的在线旋进．在建立微机器人游动模型的基础上，以垂直管道为试验环境，研究了机器人的全方位驱动特性，试验结果表明机器人可以实现管道内全方位驱动．     

智能材料DE 驱动的两态串并联机器人系统的运动特性

本文利用电活性绝缘弹胶体DE 的机电驱动特点,结合两态驱动的概念,设计了一种包含3 个两态驱 动器件的并联机构,将其作为串—并联离散驱动机器人系统的基本单元,并据此构建多个单元串联组成的多级离散 驱动系统．文中首先利用智能DE 材料制作满足这一驱动特性的圆柱形两态驱动器件,先测试其直线驱动特性,即 变形值．其次,将该变形值作为并联机构数学模型的驱动值,分析单级及多级并联机构的运动状态、特性及工作空 间的特点．最后,利用数学工具Mathematica 描绘出上述两态驱动并联机构系统所能达到的工作空间分布点云图, 分析了结构参数与驱动量对系统工作空间的范围、精度的影响．     

基于耦合驱动蛇形机器人机构设计与抬起的方法

文中设计了模块化的新型蛇形机器人关节单元．该单元具有三个自由度，其中摆动和俯仰自由度由耦合机构驱动来获得较大的力矩和活动空间．由该单元组成的蛇形机器人具有很强的驱动能力，能够抬起较多的单元．针对蛇形机器人的特点，给出了耦合机构的设计原则．对蛇形机器人抬起方法作了分析，得出采用适当规划方法能够抬起的最大单元数量是直接抬起的最大单元数量的平方关系的结论，并在此基础上分析了最大关节角对机器人抬起的影响，最后结合实例验证了上面分析结果．     

两栖机器人轮桨腿驱动机构多目标优化设计

提出了一种既能够在陆地上爬行,又能够在一定深度的水下浮游和在海底爬行的新概念轮桨腿一体化两栖机器人;多运动模式和复合移动机构是该机器人的突出特点．分析了轮桨腿复合式驱动机构的运动机理,并采用多目标优化设计理论和算法,对驱动机构的爬行性能和浮游特性进行了综合优化,得到了两栖机器人驱动机构的结构优化参数．虚拟样机的仿真结果证明了该轮桨腿一体化两栖机器人驱动机构的综合运动性能良好,对非结构环境具有一定的适应能力．     

微型仿生肠道内窥镜机器人的设计与实验

根据当前胃肠道内窥镜自主运动机器人的研究方向,设计了一种微型的肠道内窥镜机器人系统。机器人采用仿尺蠖式的运动步态,通过直流无刷电机驱动驻留-伸缩-驻留式的结构实现主动运动。整体采用模块化设计,主要包括驻留机构、伸缩机构、电路控制系统以及无线供能模块。对机器人结构模型进行了理论探讨,介绍了电路控制系统的设计,以及无线供能模块的构成。最终的机器人样机直径约为14 mm,整体长度约为61 mm。机器人在PVC柔性管道和猪小肠离体爬行实验中运行稳定可靠,能够实现前进、退后和停留等步态。实验结果表明该微型仿生肠道内窥镜机器人在肠道内可以实现主动运动。     

Omnidirectional vision-based ego-pose estimation for an autonomous in-pipe mobile robot

This paper describes the omnidirectional vision-based ego-pose estimation method of an in-pipe mobile robot. An in-pipe mobile robot has been developed for inspecting the inner surface of various pipeline configurations, such as the straight pipeline, the elbow and the multiple-branch. Because the proposed in-pipe mobile robot has four individual drive wheels, it has the ability of flexible motions in various pipelines. The ego-pose estimation is indispensable for the autonomous navigation of the proposed in-pipe robot. An omnidirectional camera and four laser modules mounted on the mobile robot are used for ego-pose estimation. An omnidirectional camera is also used for investigating the inner surface of the pipeline. The pose of the in-pipe mobile robot is estimated from the relationship equation between the pose of a robot and the pixel coordinates of four intersection points where light rays that emerge from four laser modules intersect the inside of the pipeline. This relationship equation is derived from the geometry analysis of an omnidirectional camera and four laser modules. In experiments, the performance of the proposed method is evaluated by comparing the result of our algorithm with the measurement value of a specifically designed sensor, which is a kind of a gyroscope.     

Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots

A pneumatic actuator is suitable and safe for in-pipe inspection robots in inflammable circumstances because of its ability to withstand explosions. However, ordinary pneumatic actuators limit driving speed because of their slow response. In this paper, we propose a novel pneumatic drive mechanism that can produce a high-impact force to move the in-pipe robot forward with sufficient speed by a catastrophic phenomenon using rapid release between a magnet and springs. We also introduce an anisotropic friction mechanism that uses a self-locking phenomenon to transmit the impact force to the pipe walls efficiently. A pin retraction mechanism that releases the self-locking condition is applied to retrieve the robot from the pipes. Optimizations of the proposed design were conducted based on a motion simulation model and verified in experiments. The experimental results obtained for maximum driving speeds in a straight pipe with different material types were approximately 90 and 50 mm/s for horizontal and vertical pipes, respectively. Stable strokes were also observed at different driving frequencies from 0.5 to 2.0 Hz.     

Stiffness Design of Springs for a Screw Drive In-Pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes

Various in-pipe robots used for inspection have been developed as a preventive measure against leakage. To expand the use of these robots in small pipelines, high environmental adaptability via a simple structure must be achieved. One solution, using the screw drive mechanism, has been focused on because it requires only one motor. However, the screw drive mechanism cannot achieve complex motion because of its 1-d.o.f. Therefore, existing screw drive in-pipe robots cannot pass through curved pipes with a small curvature radius. To overcome this problem, the kinematic analysis of the screw drive mechanism has been conducted on the basis of the basic principle of helical motion in curved pipes. From the analysis, the relationship among the spring stiffness, motor torque, robot length and static friction on the inner pipe wall is established for the design of stiffness of the supporting springs. The optimal spring stiffness is, thus, derived for the robot to pass through the curved pipe and to climb up in the vertical pipe. The experimental test has been used to verify the validity of the design.     

管道机器人三轴差速器性能测控系统

为了测试新研制机械自适应管道机器人的三轴差速器性能,根据测试要求,设计了基于ARM和FPGA的测试和控制系统.由ARM完成整个系统的控制和数据的存储,而FP-GA完成7路码盘信号的鉴相和计数.介绍了正交脉冲鉴相、FPGA多轴同步计数及其与ARM的接口、数据存储系统等部分的硬件电路设计.与传统的微控制器外扩专用计数芯片相...     

In-pipe robot based on selective drive mechanism

This paper presents an in-pipe robot, called MRINSPECT V (Multifunctional Robotic crawler for In-pipe inSPECTion V), which is under development for the inspection of pipelines with a nominal 8-inch inside diameter. To travel freely in every pipeline element, the robot adopts a differential driving mechanism that we have developed. Furthermore, by introducing clutches in transmitting driving power to the wheels, MRINSPECT V is able to select the suitable driving method according to the shape of the pipeline and save the energy to drive in pipelines. In this paper, the critical points in the design and construction of the proposed robot are described with the preliminary results that yield good mobility and increased efficiency. Recommended by Editorial Board member Dong Hwan Kim under the direction of Editor Jae-Bok Song. This work was supported by the Postdoctoral Research Program of Sungkyunkwan University (2008). Se-gon Roh received the B.S., M.S., and Ph.D degrees in Mechatronics Engineering from Sungkyunkwan University, Korea, in 1997, 1999, and 2006 respectively, and is currently a Researcher of the School of Mechanical Engineering also at Sungkyunkwan University. His research interests include mechanism design, applications of mobile robots, and in-pipe robots. Do Wan Kim received the B.S. degree in Mechanical Engineering from Sungkyunkwan University, Korea, in 2007. He is currently working toward a M.S. degree in Mechanical Engineering also at Sungkyunkwan University. His research interests include field robotics, in-pipe robots, and autonomous mobile robots. Jung-Sub Lee received the B.S. degree in Mechanical Engineering in 2008 from Sungkyunkwan University, Suwon, Korea, where he is currently working toward a M.S. degree in mechatronics engineering. His research interests include robot mechanism design, automation, and in-pipe robot. Hyungpil Moon received the B.S. and M.S. degrees in Mechanical Engineering from POSTECH in 1996 and 1998 respectively, and Ph.D. degree in Mechanical Engineering from University of Michigan in 2005. He joined the faculty of School of Mechanical Engineering in Sungkyunkwan University as a Full-time Lecturer in 2008. He was a Post-doctoral fellow at Carnegie Mellon University, Robotics Institute until November 2007. His research interests include distributed manipulation, multiple robot navigation, SLAM, and biomimetic robotics. Hyouk Ryeol Choi received the B.S. degree from Seoul National University in 1984, the M.S. degree from Korea Advanced Technology of Science and Technology (KAIST) in 1986, and the Ph.D. degree from Pohang University of Science and Technology (POSTECH) in 1994, Korea. Since 1995, he has been with Sungkyunkwan University, where he is currently a Professor of the School of Mechanical Engineering. He worked as an Associate Engineer with LG Electronics Central Research Laboratory from 1986 to 1989. From 1993 to 1995, he was with Kyoto University as a grantee of a scholarship from the Japanese Educational Ministry. He visited Advanced Institute of Industrial Science Technology (AIST), Japan as the JSPS Fellow, from 1999 to 2000. He is now an Associate Editor of IEEE Transactions on Robotics, International Journal of Control, System, Automation(IJCAS), and International Journal of Intelligent Service Robots (JISR). His interests include dexterous mechanisms, field applications of robots, and artificial muscle actuator.     

Recognition of pipeline geometry by using monocular camera and PSD sensors

This study proposes a method of sensing basic pipeline elements, such as a straight pipeline, elbow, T-branch, and miter, by using a monocular camera and position sensitive device sensors. The method is composed of the three following parts: The pipeline elements are first determined; the T-branch and miter are then classified among them; and the opening directions of the T-branch and the elbow are recognized. We develop a sensor hardware and signal-processing algorithm for providing information on the pipeline elements required to navigate inside the pipelines. This algorithm is easily implementable without any heavy computational burden. The proposed method is tested in an in-pipe robot, called MRINSPECT VI. Subsequently, its effectiveness is validated.     

A helical drive in-pipe robot based on compound planetary gearing

The modern society is fuelled by very comprehensive grids of gas and liquid pipelines. In recent years, various in-pipe robots have been developed for inspection and maintenance tasks inside such pipes. In this paper, a novel in-pipe robot is proposed and developed for gas/oil well interventions at thousands of meters downhole. Due to the nature of such intervention, in-pipe robot design must be capable of carrying a very large payload, as large as 2500?N inside a pipe with diameter as small as 54?mm. The proposed design concept is based on a compound planetary gearing system. One of the major novelties of this design is the use of pipe wall as a ring gear for one stage of the compound planetary gear system; the other novelty is the generation of helical angle when the planetary gears are expanded to press on the pipe wall. The proposed concept is compact, efficient, and has never been reported before. In this paper, the helical angle, the velocity, and load capability of the proposed system will be analyzed. The load transportation capability of the proposed robot is also measured based on an experiment. Initial data have shown great potential in carrying large payloads.