Instantaneous kinematic analysis for a crawler type in-pipe robot

机译：履带式机器人履带式机器人的瞬时运动分析

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This paper analyzes the motion of a crawler type in-pipe robot which has three driving module. The analogousness between the crawler in-pipe robot and parallel manipulator was analyzed, and then the instantaneous kinematic of the robot is derived using the screw theory. The in-pipe robot used in this paper, called PAROYS-II, consists of three driving parts and mechanism parts which are adaptable to various pipe diameters. The navigation method using Jacobian is suggested and verified by simulation and experiment.

机译：本文分析了具有三个驱动模块的履带式管道机器人的运动。分析了履带式机器人和平行机器人之间的类似比，然后使用螺杆理论来推导机器人的瞬时运动学。本文使用的管道机器人称为Paroys-II，包括三个驱动部件和机构部件，其适于各种管道直径。建议和通过模拟和实验验证使用雅加诺的导航方法。

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《IEEE International Conference on Mechatronics》|2011年||共5页
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Park Jung Wan; Jeon Woongsun; Kang Yoon Koo; Yang Hyun Seok; Park Hyuksung;
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原文格式 PDF
正文语种
中图分类 TH-53;
关键词
Jacobian; in-pipe robot; instantaneous kinematic; navigation method; screw theory;

机译：雅各碧碧;管道机器人;瞬时运动;导航方法;螺杆理论;

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机译：机器人逆运动学问题研究（第二次报告）-3R型机器人的多个逆运动学解决方案分析-
2. Kinematic Calibration of Serial and Parallel Robots Based on Finite and Instantaneous Screw Theory [J] . Sun Tao, Lian Binbin, Yang Shuofei, IEEE Transactions on Robotics . 2020,第3期

机译：基于有限瞬时螺杆理论的串行和并联机器人的运动校准
3. Computational kinematics for robotic manipulators: instantaneous motion pattern [J] . Oscar Salgado, Oscar Altuzarra, Fernando Viadero, Engineering Computations . 2010,第3a4期

机译：机器人操纵器的计算运动学：瞬时运动模式
4. Instantaneous kinematic analysis for a crawler type in-pipe robot [C] . Park Jung Wan, Jeon Woongsun, Kang Yoon Koo, 2011 IEEE International Conference on Mechatronics . 2011

机译：履带式管道机器人的瞬时运动学分析
5. INSTANTANEOUS KINEMATICS AND JOINT DISPLACEMENT ANALYSIS OF FULLY-PARALLEL ROBOTIC DEVICES (FLORIDA SHOULDER, SPECIAL CONFIGURATIONS). [D] . MOHAMED, MAHER GABER. 1983

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Instantaneous kinematic analysis for a crawler type in-pipe robot

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