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Mechanism Design and Dynamic Analysis on an In-Pipe Micro-Robot

Author: WangHongGang
Tutor: JieXuHui
School: National University of Defense Science and Technology
Course: Mechanical Engineering
Keywords: Microrobots Pipeline Peristaltic Virtual Prototyping
CLC: TP242.3
Type: Master's thesis
Year: 2007
Downloads: 379
Quote: 2
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Abstract


Tiny pipe robot is an important part of the field of micro - robot research , it has the characteristics of small size , low energy consumption , and be able to enter the general mechanical system is unable to enter the narrow space , complete detection and repair jobs in the chemical industry , the nuclear industry and the field of medicine has a broad application prospects . Firstly, domestic and foreign research progress of modern small pipe inspection robot to do a more comprehensive and informative introduction , pointed out the importance of this topic and the research direction oriented research projects provide a reference . Requirements for the subject , screw nut drive the peristaltic tiny pipe robot , tiny cam group type transmission pipeline robot and straight into wheeled the tiny tubes robot three overall design , to do a detailed analysis, statics calculated the driving force and speed of movement , from the structure and performance , the final selection of a screw nut drive peristaltic micro - pipe robot program . Tiny pipeline robot designed in this paper , the use of the three groups of DC motor and lead screw nut transmission , coordinated action by controlling the motor sequence three groups , the robot peristaltic forward . SolidWorks 2005 and AutoCAD 2006 software design of mechanical structure , and the main parts related checking . The robot design overall size Φ13 × 190mm ( contraction ) , the mass of about 100g . Also studied the case of driving the load by the robot in the vertical pipe , and the support structure to adapt to diameter changes of the mechanical adjustment features . Last ADAMS dynamics analysis software , kinematics and dynamics simulation of the institutions , has been the driving force and speed of movement and structural parameters of the relationship between the data curve through the simulation . Simulation results show that Φ15 ~ 20mm pipe robot can adapt , by optimizing the analysis , so that the driving force of the robot in the the rising vertical pipe crawling reached 28N , the moving speed of up to 6mm / s .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Dedicated robot
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