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- Title
面向小孔径T形管道的气动软体机器人转向策略.
- Authors
杨扬; 赵润禾; 李天波; 赵永健; 齐宇燕; 钟宋义
- Abstract
Currently, new robotic technology is widely used in pipeline maintenance and inspection. Robots made of soft materials have been developed and used in pipeline inspection to overcome the limitations of rigid in-pipe robots and improve maneuverability. The turning control of soft robots in pipelines is a great challenge, owing to the various specifications and branches of pipelines. A soft robot for pipes with small diameters was developed in this study to solve this problem using a kinematic model. Based on this model, the flexible turning strategy of robots in T-branch pipes was established. Finally, the effectiveness and accuracy of the turning strategy were verified using experiments. The proposed turning strategy can effectively improve the mobility and intelligence of soft in-pipe robots in T-branch pipes.
- Publication
Journal of Shanghai University / Shanghai Daxue Xuebao, 2022, Vol 28, Issue 5, p908
- ISSN
1007-2861
- Publication type
Article
- DOI
10.12066/j.issn.1007-2861.2355