滑倒
机器人
机制(生物学)
适应性
工程类
计算机科学
控制工程
汽车工程
模拟
机械工程
人工智能
生态学
生物
认识论
哲学
作者
Yoongu Kim,Donghwan Shin,Jeon Il Moon,Jinung An
标识
DOI:10.1109/urai.2011.6146010
摘要
This study focuses on the design and implementation of an optimal pipe navigation mechanism and a driving unit to overcome the variable situations inside steel pipes. It also offers adaptability to different pipe diameters. The important problems considered in the design and implementation are a self-sustaining property when in the center of a pipe, optimal navigation ability to adapt to in-pipe unevenness, the capability to remain stable without slipping in pipes, and the efficient operation of cleaning equipment. The robot developed here based, on carefully determined design specifications, was tested to verify the performance of its navigation mechanism and driving ability. In addition, a control system was developed for the test. The ultimate goal is the application of the verified in-pipe cleaning robot to industrial and practical applications.
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