论文标题
攀爬机器人
Pipe Climbing Robot
论文作者
论文摘要
本文介绍了一个内管道攀岩机器人的计划，该机器人利用新颖的三输出开放式差异（3-ood）组件来浏览复杂的线条组织。习惯轮/紧随其后的管道攀岩机器人倾向于在管道曲折中航行时滑动和拖拉。 3-OOD组件有助于完成移动过程中擦除滑移和拖动机器人轨道的原始后效应。拟议的差异理解了习惯两种疗程差异的实际容量，这是完成差分的初始时间，并获得三个结果。 3-OOD组件通过消除对任何动态控制的要求，准确调整了线路组织内部每个轨道上施加的功率的轨道速率。机器人在线网络中的娱乐方式在各个方向和无滑水池中的娱乐活动显示了拟议计划的足够
This paper presents the plan of an in-pipe climbing robot that works utilizing a novel Three-Output Open Differential(3-OOD) component to navigate complex organizations of lines. Customary wheeled/followed in-pipe climbing robots are inclined to slip and haul while navigating in pipe twists. The 3-OOD component helps in accomplishing the original aftereffect of wiping out slip and drag in the robot tracks during movement. The proposed differential understands the practical capacities of the customary two-yield differential, which is accomplished the initial time for a differential with three results. The 3-OOD component precisely tweaks the track rates of the robot in light of the powers applied on each track inside the line organization, by wiping out the requirement for any dynamic control. The recreation of the robot crossing in the line network in various directions and in pipe-twists without slip shows the proposed plan's adequacy
