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气动软体管道机器人步态规划与实验
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吉林省教育厅科学技术研究项目(JJKH20220049KJ);北华大学研究生创新计划项目(北华研创合字【2021】044)


Gait Planning and Experiments on Pneumatic Soft Pipeline Robot
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    摘要:

    采用自主研发的2种软体驱动器研制一种气动柔性管道机器人,并根据作业任务,规划两种运动步态,分别是快速移动步态和载荷作业步态;利用运动学实验平台进行机器人的运动实验,验证了步态的合理性与准确性。结果表明:应用规划的步态,机器人可在不同工况下、不同截面形状和直径的管道内爬行,高效稳定地完成作业任务;快速移动步态下机器人最大速度可达5.50 mm/s,载荷作业步态下机器人最大负载能力为10 N。

    Abstract:

    A pneumatic soft pipeline robot was presented by using two independently developed soft actuators and two motion gaits including fast-moving gait and load-operating gait were planned according to the task.The motion experiments of the soft robot were performed on the kinematic experimental platform,by which the feasibility and accuracy of the design of gait were proved.The results show that the soft robot has good adaptability and can crawl and complete task stably and efficiently in pipes with different working conditions,cross-sectional shapes and diameters by applying the planned gait.The maximum speed of the soft robot can reach 5.50 mm/s with the fast-moving gait,and the best load capacity is 10 N in the load-operating gait as well.

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宋懋征,刘晓敏,赵云伟,田德宝,秦鹏.气动软体管道机器人步态规划与实验[J].机床与液压,2022,50(11):41-45.
SONG Maozheng, LIU Xiaomin, ZHAO Yunwei, TIAN Debao, QIN Peng. Gait Planning and Experiments on Pneumatic Soft Pipeline Robot[J]. Machine Tool & Hydraulics,2022,50(11):41-45

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  • 在线发布日期: 2022-08-19
  • 出版日期: 2022-06-15