Body-twist of pipeline robot in elbow

作者：Li Qingkai; Tang Dewei^*; Jiang Shengyuan; Deng Zongquan

来源：Journal of Xi'an Jiaotong University, 2011, 45(10): 19-23+29.

• Body-twist analysis
• Movement in elbow
• Pipeline robot
• Pose model
• Simulation result
• Task executions
• Theoretical evaluation

To avoid body-twist affecting the task execution, the mechanism of body-twist when the robot moved in elbow was investigated. Following the pose model of the robot in elbow, the mechanical status of the robot was analyzed, the model of the body-twist torque was established, the essentiality of body-twist was revealed, and the best posture angle of the robot moving in elbow was indicated. The theoretical evaluation shows that the body-twist torque almost disappears and the body-twist afterwards is removed when the robot moving at the best posture angle. While the robot moves at the other posture angle, a nonzero body-twist torque appears which compels the robot to rotate to the balanced posture angle until the robot posture gets stable. The simulation results coincide well with the theoretical analysis.

• 出版日期2011