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RISS 인기검색어
- 검색키워드
- 저자 : Zhiqin Cai (검색결과 2 건)
- 무료
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Design and analysis of cleaning mechanism for an intermittent screw-driven pipeline robot
Zhiqin Cai,Chao Lin,Dehong Huo,Caichao Zhu 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.2
For achieving the compact size and large traction force of cleaning robots, this paper presents an intermittent-cleaning robot based on the screw-driven mechanism. The robot has two working modes: Linear reciprocating cleaning (LRC) mode and Spiral reciprocating cleaning (SRC) mode. The working principle, kinematic analysis, traction and driving force calculations for both working modes, were obtained and compared. Furthermore, in order to ensure the working stability, the failure mode analysis was performed. Simulation and experiments were conducted to verify the proposed robotic mechanism. The results show that the proposed intermittent-cleaning robots can effectively complete the cleaning work of the pipeline.
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Chao Lin,Yanan Hu,Yanqun Wei,Zhiqin Cai 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.6
As one of the most important components in the micro in-pipe robot, the supporting and locking mechanism determines the working performance of the robot. In this paper, a new supporting and locking mechanism based on the non-circular gear compound transmission (SLM-NGCT) is proposed. According to the advanced mechanisms and differential geometry theory, transmission coordinates of the movement mechanism were established and the movement equations were derived. The influence factors and change rules of the displacement, velocity and acceleration of the movement mechanism were analyzed. Based on gear meshing theory and the cam theory, the mechanical characteristics of the flexible friction block of the movement mechanism were analyzed. A simulation model of SLMNGCT was established and the comparison results between simulation and theoretical model show the correctness of the theoretical analysis and the feasibility of non-circular gear pairs instead of the cam mechanism. The study has guiding significance in the supporting and locking mechanism of micro in-pipe robot.
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