Dynamical Modelling and Structural Parameter Optimization of a Novel Spiral in-Pipe Robot

Liang, Liang; Tang, Puhua; Chen, Bai; Tang, Yong; Xu, Yan; Lin, Daiyong

doi:10.2316/journal.206.2016.1.206-4170

Cited by 4 publications

(4 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Helical in-pipe robots possess certain advantages, such as simple control structure, high reliability and good practicability; thus, they have received increasing attention from scholars [9]- [11]. The helical motion of the in-pipe robot can be achieved through several means, including the conventional passive driving scheme, where the rotation of the wheel carrier drives the driving wheel to passively rotate.…”

Section: Introductionmentioning

confidence: 99%

Development of an Active Helical Drive Self-Balancing in-Pipe Robot Based on Compound Planetary Gearing

Ren¹,

Zhang²,

Li³

et al. 2019

International Journal of Robotics and Automation

View full text Add to dashboard Cite

As pipelines increase in age, the required number of pipeline inspections and maintenance also increases on a yearly basis. Regular inspection and maintenance of pipelines using in-pipe robots can eliminate safety hazards in time and ensure production safety. The current study proposes an active helical drive self-balancing in-pipe robot that is based on compound planetary gearing. The design of the driving and supporting systems is described. The gear ratio and obstacle negotiating of the robot are analysed. Traction experiment of the prototype is conducted to demonstrate the effectiveness of the proposed structure. Within the same length, the proposed configuration can be connected in series to a multi-section drive system. The presented in-pipe robot has larger traction force than an active helical drive support-balanced in-pipe robot. The robot can conduct further inspections and implement repair tools to complete pipeline inspection and maintenance work simultaneously.

show abstract

Section: Introductionmentioning

confidence: 99%

Development of an Active Helical Drive Self-Balancing in-Pipe Robot Based on Compound Planetary Gearing

Ren¹,

Zhang²,

Li³

et al. 2019

International Journal of Robotics and Automation

View full text Add to dashboard Cite

show abstract

“…26,27 Because the traditional description of rigid-body kinematics is described in terms of angular movement and linear movement of a point attached to it, it is more complicate and difficult to obtain a uniform mathematic model when analyzing a multi-rigid-body system, which makes it impossible to research the effects of vehicle perturbation on the performance of PMs. 28,29 A review of the previous works reveals that modern mathematic tools, such as geometric algebra, spatial operator algebra, Grassmann-Cayley algebra, screw algebra, and Lie groups and Lie algebras, have been introduced to rigid-body kinematics analysis. Therefore, compared with other modern mathematical tool, screw theory and Lie groups and Lie algebras were more effective when the number of robot DOFs increases.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Application-oriented type synthesis and coupling kinematics analysis of a 1R^x2T^yz parallel stabilized platform for tunnel detection system

Liu

Duan

et al. 2019

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

For collecting image high precisely, the application-oriented type synthesis and kinematics analysis for parallel vehicle-based stabilized platform are systematically carried out. Firstly, taking multi-camera install center and vehicle trajectory offset as research objects, the influence of external perturbation on visual system is analyzed quantitatively by numerical calculation and field testing. On this basis, a new type of 2SPR/RPS parallel mechanism with two-translational and one-rotational degree of freedoms is presented. Secondly, by analyzing the motion characteristic of 2SPR/RPS parallel mechanism, the motion adjoint transformation and input-output mapping for parallel vehicle-based stabilized platform are proposed by screw description of rigid-body movement. In addition, an experimental prototype is developed, and the results between numerical examples and semi-physical simulations are compared in order to prove the validity of theoretical analysis. Finally, based on the concept of influence of external perturbations on tunnel detecting system, an external parameter identify method for coupling pose and object distance of visual system is studied. The results can be extended to development, application, and performance evaluation for parallel vehicle-based stabilized platform in next step.

show abstract

“…Chen et al investigated multi-objectives optimum design of parallel conveyor by considering maximum load, energy and performance [19]. Parameter optimization was widely adopted in improving the structural performance, Liang et al obtained the optimal structural parameters of exterior spiral for a novel spiral in-pipe robot [20].…”

Section: Introductionmentioning

confidence: 99%

Optimization Analysis of Energy-Absorbing Structures in Subway Train

Chen¹,

Jiang²

2017

International Journal of Robotics and Automation

View full text Add to dashboard Cite

An energy-absorbing structure from the front end of subway vehicle was studied to promote crashworthiness during a collision by increasing energy-absorption and decreasing collision force in this paper. A size optimization problem was solved using the non-linear programming by quadratic Lagrangian algorithm by integrating collision simulation code PAM-CRASH in the multidiscipline optimization platform Isight. Moreover, the energy-absorbing structure was redesigned using the topology optimization in OptiStruct module to promote its deformation efficiency. It is indicated that combination of size and topology optimization techniques aforementioned is feasible and efficient in promoting the crashworthiness performance of energy-absorbing structure and providing more safety allowance for passengers.

show abstract

Dynamical Modelling and Structural Parameter Optimization of a Novel Spiral in-Pipe Robot

Cited by 4 publications

References 0 publications

Development of an Active Helical Drive Self-Balancing in-Pipe Robot Based on Compound Planetary Gearing

Development of an Active Helical Drive Self-Balancing in-Pipe Robot Based on Compound Planetary Gearing

Application-oriented type synthesis and coupling kinematics analysis of a 1R^x2T^yz parallel stabilized platform for tunnel detection system

Optimization Analysis of Energy-Absorbing Structures in Subway Train

Contact Info

Product

Resources

About

Dynamical Modelling and Structural Parameter Optimization of a Novel Spiral in-Pipe Robot

Cited by 4 publications

References 0 publications

Development of an Active Helical Drive Self-Balancing in-Pipe Robot Based on Compound Planetary Gearing

Development of an Active Helical Drive Self-Balancing in-Pipe Robot Based on Compound Planetary Gearing

Application-oriented type synthesis and coupling kinematics analysis of a 1Rx2Tyz parallel stabilized platform for tunnel detection system

Optimization Analysis of Energy-Absorbing Structures in Subway Train

Contact Info

Product

Resources

About

Application-oriented type synthesis and coupling kinematics analysis of a 1R^x2T^yz parallel stabilized platform for tunnel detection system