Kinematics Modeling and Simulation Analysis of Wheeled Mobile Robot in Round Pipe

DOI

10.2991/icsma-16.2016.95How to use a DOI?

Keywords

Wheeled motive robot; ADAMS, Kinematics modeling, Simulation analysis

Abstract

Micro in-pipe robot is a kind of mobile robot, which is suitable for small caliber pipe. The mobile mechanism is one of the important research contents in the field of robot research. ADAMS software is used to simulate the 3D solid motion of the six wheeled robot, and the kinematic model of the constrained micro robot in pipeline is established. The paper discussed the 3D solid motive simulation of six-wheeled robot, and the simulation result provides an useful method to study the shape and size of robot workspace. Through the centroid of the displacement, velocity and acceleration curves, spring force and driving torque curve analysis, it is proved that the movement of the six wheeled robot in the straight pipe has the basic motion stability and feasibility.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yuxia Zhao
AU  - Yiqing Hua
AU  - Jiejian Di
PY  - 2016/12
DA  - 2016/12
TI  - Kinematics Modeling and Simulation Analysis of Wheeled Mobile Robot in Round Pipe
BT  - Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016)
PB  - Atlantis Press
SP  - 544
EP  - 550
SN  - 1951-6851
UR  - https://doi.org/10.2991/icsma-16.2016.95
DO  - 10.2991/icsma-16.2016.95
ID  - Zhao2016/12
ER  -