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| The Performance Optimization of the Articulated-Tracked Pipe-Inspected Robot for Obstacle Negotiation |
| CHEN Zong-Yao, YAN Guo-Zheng, WANG Kun-Dong, ZHAO Zhong-Hua |
| (School of Electronic, Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240, China) |
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Abstract Aiming at the special requirement of pipe-inspection, this paper presented the design of a compact articulated-tracked robot. Based on the structure design of the robot, several mathematical models describing the relationship between the posture and the capacity of the robot’s obstacle negotiation were established. And the effect of posture regulation on the performance of the robot’s obstacle negotiation was also investigated. Using an optimization technology, this paper gave the calculation results for the max-imum step height and the adaptive moving posture during the process of obstaclenegotiation. The Matlab simulation of the model and the experiment verify the improvement of the robot performance by the design and optimization presented in this paper.
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Received: 09 July 2010
Published: 29 July 2011
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