Motion Planning and Simulation of Multifunctional Over-the-tube Pipe Climbing Robot
Li Dong,
Tongchao Xing,
Yi Zheng
Abstract:Due to the complexity of the current industrial pipeline layout, in order to improve the efficiency of pipeline inspection and maintenance, a multi-functional obstacle-surmounting pipe-crawling robot was designed to address the issues of varying pipe diameters and positions. The movement pattern of the crawling robot was studied, the variation of the clamping force of the clamping mechanism during the climbing process was analyzed, and the mapping relationship between various parameters was obtained as the bas… Show more
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