LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT
A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable...
Ausführliche Beschreibung
Autor*in: |
Yongmei Zhu [verfasserIn] |
---|
Format: |
Artikel |
---|---|
Sprache: |
Englisch |
Erschienen: |
2016 |
---|
Schlagwörter: |
---|
Systematik: |
|
---|
Übergeordnetes Werk: |
Enthalten in: International journal of robotics & automation - Anaheim, Calif. : Acta Pr., 1986, 31(2016), 2, Seite 1 |
---|---|
Übergeordnetes Werk: |
volume:31 ; year:2016 ; number:2 ; pages:1 |
Links: |
---|
Katalog-ID: |
OLC1974027961 |
---|
LEADER | 01000caa a2200265 4500 | ||
---|---|---|---|
001 | OLC1974027961 | ||
003 | DE-627 | ||
005 | 20220215111105.0 | ||
007 | tu | ||
008 | 160430s2016 xx ||||| 00| ||eng c | ||
028 | 5 | 2 | |a PQ20160430 |
035 | |a (DE-627)OLC1974027961 | ||
035 | |a (DE-599)GBVOLC1974027961 | ||
035 | |a (PRQ)p576-71a9368fcede57f9d307f5b04e1a748fc7974699edf350efc33034fcd142e9d50 | ||
035 | |a (KEY)0141189620160000031000200001locomotionsystemdesignanddynamicsanalysisofanewtel | ||
040 | |a DE-627 |b ger |c DE-627 |e rakwb | ||
041 | |a eng | ||
082 | 0 | 4 | |a 620 |q ZDB |
084 | |a ZG 1100: |q AVZ |2 rvk | ||
084 | |a 52.00 |2 bkl | ||
100 | 0 | |a Yongmei Zhu |e verfasserin |4 aut | |
245 | 1 | 0 | |a LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT |
264 | 1 | |c 2016 | |
336 | |a Text |b txt |2 rdacontent | ||
337 | |a ohne Hilfsmittel zu benutzen |b n |2 rdamedia | ||
338 | |a Band |b nc |2 rdacarrier | ||
520 | |a A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control. | ||
650 | 4 | |a Systems design | |
650 | 4 | |a Simulation | |
650 | 4 | |a Kinematics | |
650 | 4 | |a Robotics | |
650 | 4 | |a Robots | |
700 | 0 | |a Xiaoyan Sun |4 oth | |
700 | 0 | |a Xinguo Wang |4 oth | |
773 | 0 | 8 | |i Enthalten in |t International journal of robotics & automation |d Anaheim, Calif. : Acta Pr., 1986 |g 31(2016), 2, Seite 1 |w (DE-627)129204196 |w (DE-600)54654-9 |w (DE-576)026314940 |x 0826-8185 |7 nnns |
773 | 1 | 8 | |g volume:31 |g year:2016 |g number:2 |g pages:1 |
856 | 4 | 2 | |u http://search.proquest.com/docview/1778392996 |
912 | |a GBV_USEFLAG_A | ||
912 | |a SYSFLAG_A | ||
912 | |a GBV_OLC | ||
912 | |a SSG-OLC-TEC | ||
912 | |a GBV_ILN_32 | ||
912 | |a GBV_ILN_70 | ||
912 | |a GBV_ILN_2002 | ||
912 | |a GBV_ILN_2006 | ||
936 | r | v | |a ZG 1100: |
936 | b | k | |a 52.00 |q AVZ |
951 | |a AR | ||
952 | |d 31 |j 2016 |e 2 |h 1 |
author_variant |
y z yz |
---|---|
matchkey_str |
article:08268185:2016----::oooinytmeinndnmcaayioaetlsoi |
hierarchy_sort_str |
2016 |
bklnumber |
52.00 |
publishDate |
2016 |
allfields |
PQ20160430 (DE-627)OLC1974027961 (DE-599)GBVOLC1974027961 (PRQ)p576-71a9368fcede57f9d307f5b04e1a748fc7974699edf350efc33034fcd142e9d50 (KEY)0141189620160000031000200001locomotionsystemdesignanddynamicsanalysisofanewtel DE-627 ger DE-627 rakwb eng 620 ZDB ZG 1100: AVZ rvk 52.00 bkl Yongmei Zhu verfasserin aut LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control. Systems design Simulation Kinematics Robotics Robots Xiaoyan Sun oth Xinguo Wang oth Enthalten in International journal of robotics & automation Anaheim, Calif. : Acta Pr., 1986 31(2016), 2, Seite 1 (DE-627)129204196 (DE-600)54654-9 (DE-576)026314940 0826-8185 nnns volume:31 year:2016 number:2 pages:1 http://search.proquest.com/docview/1778392996 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_32 GBV_ILN_70 GBV_ILN_2002 GBV_ILN_2006 ZG 1100: 52.00 AVZ AR 31 2016 2 1 |
spelling |
PQ20160430 (DE-627)OLC1974027961 (DE-599)GBVOLC1974027961 (PRQ)p576-71a9368fcede57f9d307f5b04e1a748fc7974699edf350efc33034fcd142e9d50 (KEY)0141189620160000031000200001locomotionsystemdesignanddynamicsanalysisofanewtel DE-627 ger DE-627 rakwb eng 620 ZDB ZG 1100: AVZ rvk 52.00 bkl Yongmei Zhu verfasserin aut LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control. Systems design Simulation Kinematics Robotics Robots Xiaoyan Sun oth Xinguo Wang oth Enthalten in International journal of robotics & automation Anaheim, Calif. : Acta Pr., 1986 31(2016), 2, Seite 1 (DE-627)129204196 (DE-600)54654-9 (DE-576)026314940 0826-8185 nnns volume:31 year:2016 number:2 pages:1 http://search.proquest.com/docview/1778392996 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_32 GBV_ILN_70 GBV_ILN_2002 GBV_ILN_2006 ZG 1100: 52.00 AVZ AR 31 2016 2 1 |
allfields_unstemmed |
PQ20160430 (DE-627)OLC1974027961 (DE-599)GBVOLC1974027961 (PRQ)p576-71a9368fcede57f9d307f5b04e1a748fc7974699edf350efc33034fcd142e9d50 (KEY)0141189620160000031000200001locomotionsystemdesignanddynamicsanalysisofanewtel DE-627 ger DE-627 rakwb eng 620 ZDB ZG 1100: AVZ rvk 52.00 bkl Yongmei Zhu verfasserin aut LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control. Systems design Simulation Kinematics Robotics Robots Xiaoyan Sun oth Xinguo Wang oth Enthalten in International journal of robotics & automation Anaheim, Calif. : Acta Pr., 1986 31(2016), 2, Seite 1 (DE-627)129204196 (DE-600)54654-9 (DE-576)026314940 0826-8185 nnns volume:31 year:2016 number:2 pages:1 http://search.proquest.com/docview/1778392996 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_32 GBV_ILN_70 GBV_ILN_2002 GBV_ILN_2006 ZG 1100: 52.00 AVZ AR 31 2016 2 1 |
allfieldsGer |
PQ20160430 (DE-627)OLC1974027961 (DE-599)GBVOLC1974027961 (PRQ)p576-71a9368fcede57f9d307f5b04e1a748fc7974699edf350efc33034fcd142e9d50 (KEY)0141189620160000031000200001locomotionsystemdesignanddynamicsanalysisofanewtel DE-627 ger DE-627 rakwb eng 620 ZDB ZG 1100: AVZ rvk 52.00 bkl Yongmei Zhu verfasserin aut LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control. Systems design Simulation Kinematics Robotics Robots Xiaoyan Sun oth Xinguo Wang oth Enthalten in International journal of robotics & automation Anaheim, Calif. : Acta Pr., 1986 31(2016), 2, Seite 1 (DE-627)129204196 (DE-600)54654-9 (DE-576)026314940 0826-8185 nnns volume:31 year:2016 number:2 pages:1 http://search.proquest.com/docview/1778392996 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_32 GBV_ILN_70 GBV_ILN_2002 GBV_ILN_2006 ZG 1100: 52.00 AVZ AR 31 2016 2 1 |
allfieldsSound |
PQ20160430 (DE-627)OLC1974027961 (DE-599)GBVOLC1974027961 (PRQ)p576-71a9368fcede57f9d307f5b04e1a748fc7974699edf350efc33034fcd142e9d50 (KEY)0141189620160000031000200001locomotionsystemdesignanddynamicsanalysisofanewtel DE-627 ger DE-627 rakwb eng 620 ZDB ZG 1100: AVZ rvk 52.00 bkl Yongmei Zhu verfasserin aut LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control. Systems design Simulation Kinematics Robotics Robots Xiaoyan Sun oth Xinguo Wang oth Enthalten in International journal of robotics & automation Anaheim, Calif. : Acta Pr., 1986 31(2016), 2, Seite 1 (DE-627)129204196 (DE-600)54654-9 (DE-576)026314940 0826-8185 nnns volume:31 year:2016 number:2 pages:1 http://search.proquest.com/docview/1778392996 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_32 GBV_ILN_70 GBV_ILN_2002 GBV_ILN_2006 ZG 1100: 52.00 AVZ AR 31 2016 2 1 |
language |
English |
source |
Enthalten in International journal of robotics & automation 31(2016), 2, Seite 1 volume:31 year:2016 number:2 pages:1 |
sourceStr |
Enthalten in International journal of robotics & automation 31(2016), 2, Seite 1 volume:31 year:2016 number:2 pages:1 |
format_phy_str_mv |
Article |
institution |
findex.gbv.de |
topic_facet |
Systems design Simulation Kinematics Robotics Robots |
dewey-raw |
620 |
isfreeaccess_bool |
false |
container_title |
International journal of robotics & automation |
authorswithroles_txt_mv |
Yongmei Zhu @@aut@@ Xiaoyan Sun @@oth@@ Xinguo Wang @@oth@@ |
publishDateDaySort_date |
2016-01-01T00:00:00Z |
hierarchy_top_id |
129204196 |
dewey-sort |
3620 |
id |
OLC1974027961 |
language_de |
englisch |
fullrecord |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a2200265 4500</leader><controlfield tag="001">OLC1974027961</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20220215111105.0</controlfield><controlfield tag="007">tu</controlfield><controlfield tag="008">160430s2016 xx ||||| 00| ||eng c</controlfield><datafield tag="028" ind1="5" ind2="2"><subfield code="a">PQ20160430</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)OLC1974027961</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)GBVOLC1974027961</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(PRQ)p576-71a9368fcede57f9d307f5b04e1a748fc7974699edf350efc33034fcd142e9d50</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(KEY)0141189620160000031000200001locomotionsystemdesignanddynamicsanalysisofanewtel</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">620</subfield><subfield code="q">ZDB</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">ZG 1100:</subfield><subfield code="q">AVZ</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">52.00</subfield><subfield code="2">bkl</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Yongmei Zhu</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2016</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">ohne Hilfsmittel zu benutzen</subfield><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Band</subfield><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Systems design</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Simulation</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Kinematics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robotics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robots</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Xiaoyan Sun</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Xinguo Wang</subfield><subfield code="4">oth</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">International journal of robotics & automation</subfield><subfield code="d">Anaheim, Calif. : Acta Pr., 1986</subfield><subfield code="g">31(2016), 2, Seite 1</subfield><subfield code="w">(DE-627)129204196</subfield><subfield code="w">(DE-600)54654-9</subfield><subfield code="w">(DE-576)026314940</subfield><subfield code="x">0826-8185</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:31</subfield><subfield code="g">year:2016</subfield><subfield code="g">number:2</subfield><subfield code="g">pages:1</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">http://search.proquest.com/docview/1778392996</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_OLC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SSG-OLC-TEC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_32</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2002</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2006</subfield></datafield><datafield tag="936" ind1="r" ind2="v"><subfield code="a">ZG 1100:</subfield></datafield><datafield tag="936" ind1="b" ind2="k"><subfield code="a">52.00</subfield><subfield code="q">AVZ</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">31</subfield><subfield code="j">2016</subfield><subfield code="e">2</subfield><subfield code="h">1</subfield></datafield></record></collection>
|
author |
Yongmei Zhu |
spellingShingle |
Yongmei Zhu ddc 620 rvk ZG 1100: bkl 52.00 misc Systems design misc Simulation misc Kinematics misc Robotics misc Robots LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT |
authorStr |
Yongmei Zhu |
ppnlink_with_tag_str_mv |
@@773@@(DE-627)129204196 |
format |
Article |
dewey-ones |
620 - Engineering & allied operations |
delete_txt_mv |
keep |
author_role |
aut |
collection |
OLC |
remote_str |
false |
illustrated |
Not Illustrated |
issn |
0826-8185 |
topic_title |
620 ZDB ZG 1100: AVZ rvk 52.00 bkl LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT Systems design Simulation Kinematics Robotics Robots |
topic |
ddc 620 rvk ZG 1100: bkl 52.00 misc Systems design misc Simulation misc Kinematics misc Robotics misc Robots |
topic_unstemmed |
ddc 620 rvk ZG 1100: bkl 52.00 misc Systems design misc Simulation misc Kinematics misc Robotics misc Robots |
topic_browse |
ddc 620 rvk ZG 1100: bkl 52.00 misc Systems design misc Simulation misc Kinematics misc Robotics misc Robots |
format_facet |
Aufsätze Gedruckte Aufsätze |
format_main_str_mv |
Text Zeitschrift/Artikel |
carriertype_str_mv |
nc |
author2_variant |
x s xs x w xw |
hierarchy_parent_title |
International journal of robotics & automation |
hierarchy_parent_id |
129204196 |
dewey-tens |
620 - Engineering |
hierarchy_top_title |
International journal of robotics & automation |
isfreeaccess_txt |
false |
familylinks_str_mv |
(DE-627)129204196 (DE-600)54654-9 (DE-576)026314940 |
title |
LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT |
ctrlnum |
(DE-627)OLC1974027961 (DE-599)GBVOLC1974027961 (PRQ)p576-71a9368fcede57f9d307f5b04e1a748fc7974699edf350efc33034fcd142e9d50 (KEY)0141189620160000031000200001locomotionsystemdesignanddynamicsanalysisofanewtel |
title_full |
LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT |
author_sort |
Yongmei Zhu |
journal |
International journal of robotics & automation |
journalStr |
International journal of robotics & automation |
lang_code |
eng |
isOA_bool |
false |
dewey-hundreds |
600 - Technology |
recordtype |
marc |
publishDateSort |
2016 |
contenttype_str_mv |
txt |
container_start_page |
1 |
author_browse |
Yongmei Zhu |
container_volume |
31 |
class |
620 ZDB ZG 1100: AVZ rvk 52.00 bkl |
format_se |
Aufsätze |
author-letter |
Yongmei Zhu |
dewey-full |
620 |
title_sort |
locomotion system design and dynamics analysis of a new telescopic miniature in-pipe robot |
title_auth |
LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT |
abstract |
A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control. |
abstractGer |
A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control. |
abstract_unstemmed |
A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control. |
collection_details |
GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_32 GBV_ILN_70 GBV_ILN_2002 GBV_ILN_2006 |
container_issue |
2 |
title_short |
LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT |
url |
http://search.proquest.com/docview/1778392996 |
remote_bool |
false |
author2 |
Xiaoyan Sun Xinguo Wang |
author2Str |
Xiaoyan Sun Xinguo Wang |
ppnlink |
129204196 |
mediatype_str_mv |
n |
isOA_txt |
false |
hochschulschrift_bool |
false |
author2_role |
oth oth |
up_date |
2024-07-04T03:38:18.304Z |
_version_ |
1803618141665755136 |
fullrecord_marcxml |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a2200265 4500</leader><controlfield tag="001">OLC1974027961</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20220215111105.0</controlfield><controlfield tag="007">tu</controlfield><controlfield tag="008">160430s2016 xx ||||| 00| ||eng c</controlfield><datafield tag="028" ind1="5" ind2="2"><subfield code="a">PQ20160430</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)OLC1974027961</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)GBVOLC1974027961</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(PRQ)p576-71a9368fcede57f9d307f5b04e1a748fc7974699edf350efc33034fcd142e9d50</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(KEY)0141189620160000031000200001locomotionsystemdesignanddynamicsanalysisofanewtel</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">620</subfield><subfield code="q">ZDB</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">ZG 1100:</subfield><subfield code="q">AVZ</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">52.00</subfield><subfield code="2">bkl</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Yongmei Zhu</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2016</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">ohne Hilfsmittel zu benutzen</subfield><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Band</subfield><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Systems design</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Simulation</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Kinematics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robotics</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robots</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Xiaoyan Sun</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Xinguo Wang</subfield><subfield code="4">oth</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">International journal of robotics & automation</subfield><subfield code="d">Anaheim, Calif. : Acta Pr., 1986</subfield><subfield code="g">31(2016), 2, Seite 1</subfield><subfield code="w">(DE-627)129204196</subfield><subfield code="w">(DE-600)54654-9</subfield><subfield code="w">(DE-576)026314940</subfield><subfield code="x">0826-8185</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:31</subfield><subfield code="g">year:2016</subfield><subfield code="g">number:2</subfield><subfield code="g">pages:1</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">http://search.proquest.com/docview/1778392996</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_OLC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SSG-OLC-TEC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_32</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2002</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2006</subfield></datafield><datafield tag="936" ind1="r" ind2="v"><subfield code="a">ZG 1100:</subfield></datafield><datafield tag="936" ind1="b" ind2="k"><subfield code="a">52.00</subfield><subfield code="q">AVZ</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">31</subfield><subfield code="j">2016</subfield><subfield code="e">2</subfield><subfield code="h">1</subfield></datafield></record></collection>
|
score |
7.40007 |