论文标题
带有传感器无动磁铁和全向轨道的管道检查机器人：设计和实施
An In-Pipe Inspection Robot With Sensorless Underactuated Magnets and Omnidirectional Tracks: Design and Implementation
论文作者
论文摘要
本文介绍了使用精明的传输部件来研究线路的复杂关系的管道内攀岩机器人的计划。标准的轮毂/进行管道内攀爬机器人倾向于在管道转弯进行调查时滑动和采取。该仪器有助于在进行前进期间取得滑倒并拖入机器人轨道的主要不可避免的结果。拟议的变速箱欣赏了标准的两型收益传输的最实际范围，这开发了带有三个结果的传输的基本时间。该仪器最终改变了机器人的轨道速度，考虑到线际关系中每个轨道上施加的功率，通过获得任何显着控制的必要条件。机器人在线路网络中以各种取向和管道转移而没有滑倒的娱乐表明了拟议的游戏计划的适当性。
This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while investigating in pipe turns. The instrument helps in accomplishing the main inevitable result of getting out slip and drag in the robot tracks during advancement. The proposed transmission appreciates the practical furthest reaches of the standard two-yield transmission, which is developed the basic time for a transmission with three results. The instrument conclusively changes the track speeds of the robot considering the powers applied on each track inside the line relationship, by getting out the essential for any remarkable control. The amusement of the robot crossing in the line network in various orientation and in pipe-turns without slip shows the proposed game plan's adequacy.
