Design and motion analysis of multi-motion mode pipeline robot. Issue 1 (1st April 2022)

• Record Type: Journal Article
• Authors: Yan, Feng; Gao, Haitao; Zhang, Lei; Han, Yali
• Is Part Of: Journal of physics. Volume 2246:Issue 1(2022)
• Publication Date: 2022-04-01
• Subjects: pipeline robot -- multiple motion modes -- design -- kinematic analysis; Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/2246/1/012029
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: Aiming to improve the adaptability level of single motion form pipeline robots, a wheeled pipeline robot with multiple motion modes is designed. The overall scheme of the pipeline robot is given. The self-adaptive diameter-changing mechanism, wheel displacement mechanism, and turning mechanism are designed. The motion and mechanical models of pipeline robots during travelling are established; on this basis, the robot's main body structure is optimised.