论文标题
全向三个模块机器人设计和仿真
Omnidirectional Three Module Robot Design and Simulation
论文作者
论文摘要
本文介绍了用于在复杂管道网络内部穿越的全向拖动三个模块机器人。机器人由三个全向模块固定了120°，可以旋转其轴旋转，从而使机器人的自动运动旋转。自动运动使机器人在谈判T-缝线时可以克服运动奇点，并进一步允许机器人在管道内转弯时以优选方向到达。分析了谈判T界的奇异区域以制定该区域的几何形状。设计和运动能力通过在机器人的简化集总模型上进行MSC ADAMS进行模拟来验证。
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120° apart circumferentially which can rotate about their axis allowing holonomic motion of the robot. Holonomic motion enables the robot to overcome motion singularity when negotiating T-junctions and further allows the robot to arrive in a preferred orientation while taking turns inside a pipe. The singularity region while negotiating T-junctions is analyzed to formulate the geometry of the region. The design and motion capabilities are validated by conducting simulations in MSC ADAMS on a simplified lumped-model of the robot.
