Abstract
Specific to the structured operating environment of multi-rows pipeline, the mode of alternated crawling motion with double claws is employed for kinematic and motion planning. Firstly, designing a 5-DOF robot prototype, and building its kinematical model by employing DENAVIT – HARTENBERG Method for forward and inverse kinematical validation; secondly, decomposing the motions in the structured pipeline environment into three typical motions: single pipe crawling, switch between pipes and between rows of pipes, then determining key gestures in the process of crawling, and then performing interpolation of joint space trajectory; finally, performing kinematics simulation analysis based on Adams simulation environment software. The result indicates that: the robot prototype can fulfill the crawling motion trajectory along pipe, between pipes, and between rows of pipes; the joint will sustain more force under over-restrained conditions.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Russell N D E. Systems Inc. The vertiScan system re-presents a step change in NDT technology for the rapid inspection of Water Wall Tubes[EB/OL], Canada, 10(6) (2011). http://www.russelltech.com
Spenko, M.J., Haynes, G.C., Saunders, J.A., et al.: Biologically inspired climbing with a hexapedal robot. Journal of Field Robotics 25(4–5), 223–242 (2008)
Tavakoli, M., Marques, L., de Almeida, A.T.: 3DCLIMBER_ Climbing and manipulation over 3D structures. Mechatronics, 48–62 (2011)
Lam, T.L., Xu, Y.: A flexible tree climbing robot: Treebot-design and implementation. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 5849–5854. IEEE (2011)
Craig, J.J.: Introduction to robotics: mechanical and control, 3rd edn. Prentice Hall, London (2005)
Brokett, R.W.: Robotic manipulators and the product of exponential formula. International Symposium in Mathermatical Theory of Networks and Systems, Beer Sheva, Isr, pp. 120–129 (1984)
Kelmar, L., Khosla, P.: Automatic generation of kinematics for a reconfigurable modular manipulator system. In: IEEE International Conference on Robotics and Automation, Philadelphia, PA, USA, pp. 663–668 (1988)
Benhabib, B., Zak, G., Lipton, M.G.: A generalized kinematic modeling method for modular robots. Journal of Robotic Systems 6(5), 545–571 (1989)
Chen, I.M., Yang, G.: Configuration independent kinematics for modular robots. In: IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA, pp. 1440–1445 (1996)
Yang, G., Chen, I.M., Lim, W.K., et al.: Design and kinematic analysis of modular reconfigurable parallel robots. In: IEEE International Conference on Robotics and Automation, Detroit, MI, USA, pp. 2501–2506 (1999)
Fei, Y., Fen, G., Zhao, X., et al.: Automatic generation of the reconfigurable robot forward and inverse kinematics. Journal-Shanghai Jiaotong University-Chinese Edition- 34(10), 1430–1433 (2000)
Murray, R., Li, Z.X., Sastry, S.: A mathematical introduction to robotic manipulation. CRC Press, Boca Raton (1994)
Wang, W., Zhao, J., Gao, Y., et al.: Dynamics analysis of reconfigurable robots based on screw theory. Chin. J. Mech. Eng. 44(11), 99–104 (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
You, P. et al. (2015). Crawling Motion Planning of Robots in the Multi-Rows Pipeline Structured Environment. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_20
Download citation
DOI: https://doi.org/10.1007/978-3-319-22876-1_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22875-4
Online ISBN: 978-3-319-22876-1
eBook Packages: Computer ScienceComputer Science (R0)