Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints

During the movement of a robot on the outside of a pipe, it either exhibits linear or rotating motion along the axis of the pipe. In this process, not only is there conversion between kinetic energy, potential energy, resistance power consumption, and external work, but there are also complex mechan...

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Bibliographic Details
Main Authors:	Dengbiao Liu, Cuiyun Li, Binghui Fan, Peisi Zhong
Format:	Article
Language:	English
Published:	SAGE Publishing 2020-01-01
Series:	International Journal of Advanced Robotic Systems
Online Access:	https://doi.org/10.1177/1729881419898588

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record_format	Article
spelling	doaj-779b8ef30c8541e499006f0d69c67f412020-11-25T03:34:16ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142020-01-011710.1177/1729881419898588Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual jointsDengbiao Liu0Cuiyun Li1Binghui Fan2Peisi Zhong3 College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China Department of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Tai’an, China College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, China College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, ChinaDuring the movement of a robot on the outside of a pipe, it either exhibits linear or rotating motion along the axis of the pipe. In this process, not only is there conversion between kinetic energy, potential energy, resistance power consumption, and external work, but there are also complex mechanical relationships that occur. To solve the dynamic problems of the out-pipe climbing robot in space, the axis and diameter of the pipe were simplified to the virtual joints of a robot with zero mass, and the virtual dynamic model of the robot in space has been established. According to the vector of the arbitrary position of a particle robot around an inclined pipe, combined with the improved Lagrange–Newton–Euler method, the system’s dynamic equation that includes friction has been established, and the required driving force for an arbitrary position of the robot in the process of circling an inclined pipe has been obtained.https://doi.org/10.1177/1729881419898588
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Dengbiao Liu Cuiyun Li Binghui Fan Peisi Zhong
spellingShingle	Dengbiao Liu Cuiyun Li Binghui Fan Peisi Zhong Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints International Journal of Advanced Robotic Systems
author_facet	Dengbiao Liu Cuiyun Li Binghui Fan Peisi Zhong
author_sort	Dengbiao Liu
title	Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints
title_short	Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints
title_full	Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints
title_fullStr	Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints
title_full_unstemmed	Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints
title_sort	dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints
publisher	SAGE Publishing
series	International Journal of Advanced Robotic Systems
issn	1729-8814
publishDate	2020-01-01
description	During the movement of a robot on the outside of a pipe, it either exhibits linear or rotating motion along the axis of the pipe. In this process, not only is there conversion between kinetic energy, potential energy, resistance power consumption, and external work, but there are also complex mechanical relationships that occur. To solve the dynamic problems of the out-pipe climbing robot in space, the axis and diameter of the pipe were simplified to the virtual joints of a robot with zero mass, and the virtual dynamic model of the robot in space has been established. According to the vector of the arbitrary position of a particle robot around an inclined pipe, combined with the improved Lagrange–Newton–Euler method, the system’s dynamic equation that includes friction has been established, and the required driving force for an arbitrary position of the robot in the process of circling an inclined pipe has been obtained.
url	https://doi.org/10.1177/1729881419898588
work_keys_str_mv	AT dengbiaoliu dynamicanalysisofthearbitrarypositionofaparticlerobotaroundaninclinedpipebasedonvirtualjoints AT cuiyunli dynamicanalysisofthearbitrarypositionofaparticlerobotaroundaninclinedpipebasedonvirtualjoints AT binghuifan dynamicanalysisofthearbitrarypositionofaparticlerobotaroundaninclinedpipebasedonvirtualjoints AT peisizhong dynamicanalysisofthearbitrarypositionofaparticlerobotaroundaninclinedpipebasedonvirtualjoints
_version_	1724559653081186304

Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints

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