Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process
Aiming at the problem that the speed of the contact point of the multi-section pipeline robot changes abruptly during the turning process, which will affect the stability of the robot's motion, the turning process of the robot is explored. Based on the pose model in the pipe bend of the pipe ro...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.06.014 |
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| _version_ | 1841547031434231808 |
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| author | Wang Xiaolei Yin Bowen Li Xiaodan |
| author_facet | Wang Xiaolei Yin Bowen Li Xiaodan |
| author_sort | Wang Xiaolei |
| collection | DOAJ |
| description | Aiming at the problem that the speed of the contact point of the multi-section pipeline robot changes abruptly during the turning process, which will affect the stability of the robot's motion, the turning process of the robot is explored. Based on the pose model in the pipe bend of the pipe robot, the position and velocity of the contact point between the robot and the pipe are solved. Firstly, the turning process of the robot is briefly described; secondly, the pose model of the pipeline robot in the pipe bend is established and the position of the contact point between the robot and the pipeline is solved; then the speed of the robot is analyzed to find the attitude angle where the speed of the robot does not change suddenly. Finally, the correctness of the conclusion and the solution process is verified by the Matlab numerical solution and Adams simulation, which lays a foundation for the continuous and stable control of robot turning process. |
| format | Article |
| id | doaj-art-6372198d9ba8460e9ddf44017b56eb65 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-6372198d9ba8460e9ddf44017b56eb652025-01-10T14:58:17ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-06-0147949938804143Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning ProcessWang XiaoleiYin BowenLi XiaodanAiming at the problem that the speed of the contact point of the multi-section pipeline robot changes abruptly during the turning process, which will affect the stability of the robot's motion, the turning process of the robot is explored. Based on the pose model in the pipe bend of the pipe robot, the position and velocity of the contact point between the robot and the pipe are solved. Firstly, the turning process of the robot is briefly described; secondly, the pose model of the pipeline robot in the pipe bend is established and the position of the contact point between the robot and the pipeline is solved; then the speed of the robot is analyzed to find the attitude angle where the speed of the robot does not change suddenly. Finally, the correctness of the conclusion and the solution process is verified by the Matlab numerical solution and Adams simulation, which lays a foundation for the continuous and stable control of robot turning process.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.06.014Pipeline robotTurning processStability analysisAttitude angleSimulation verification |
| spellingShingle | Wang Xiaolei Yin Bowen Li Xiaodan Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process Jixie chuandong Pipeline robot Turning process Stability analysis Attitude angle Simulation verification |
| title | Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process |
| title_full | Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process |
| title_fullStr | Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process |
| title_full_unstemmed | Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process |
| title_short | Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process |
| title_sort | stability analysis and simulation of multi section pipeline robots in the turning process |
| topic | Pipeline robot Turning process Stability analysis Attitude angle Simulation verification |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.06.014 |
| work_keys_str_mv | AT wangxiaolei stabilityanalysisandsimulationofmultisectionpipelinerobotsintheturningprocess AT yinbowen stabilityanalysisandsimulationofmultisectionpipelinerobotsintheturningprocess AT lixiaodan stabilityanalysisandsimulationofmultisectionpipelinerobotsintheturningprocess |