流体駆動形配管検査ロボットの運動解析

日本機械学會論文集. C編 Volume 63 Issue 611 Page 2368-2376 published_at 1997-07-25
アクセス数 : 929
ダウンロード数 : 139

今月のアクセス数 : 5
今月のダウンロード数 : 2
File
03875024_63_611_2368.pdf 725 KB 種類 : fulltext
Title ( jpn )
流体駆動形配管検査ロボットの運動解析
Title ( eng )
Dynamic Behavior of Pipe Inspection Robot Driven by Fluid Force
Creator
Kaneko Makoto
Hiyamizu Kazuya
Imanura Nobuaki
Source Title
日本機械学會論文集. C編
Transactions of the Japan Society of Mechanical Engineers. C
Volume 63
Issue 611
Start Page 2368
End Page 2376
Abstract
This paper discusses the dynamic behavior of a pipe inspection robot driven by fluid force. The robot is composed of an inspection part, insertion roller, floats and cables to connect the floats. The robot receives not only drag force but also lift force through each float implemented in every link unit. Through simulation, we found that according to the shape of the pipe, there exists an optimum fluid velocity which provides the inspection position at the center of the pipe. Such optimum velocity is a function of mechanical impedance existing in the robot itself and the radius of curvature. We show a method which keeps the inspection part parallel to the pipe axis irrespective of the position of the center of the radius of pipe. We also consider the dynamic behavior of the inspection part under various parameters, such as the radius of pipe curvature, mechanical impedance of the robot, and the fluid flow rate.
Keywords
Mechatronics and Robotics
Moving Robot
Robot
Pipe Inspection Robot
Fluid Force Driven Robot
Simulation
Curved Pipe
NDC
Mechanical engineering [ 530 ]
Language
jpn
Resource Type journal article
Publisher
社団法人日本機械学会
Date of Issued 1997-07-25
Rights
Copyright (c) 1997 社団法人日本機械学会
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 0387-5024
[NCID] AN00187463