New Approach of Fixation Possibilities Investigation for Snake Robot in the Pipe

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F15%3A00240597" target="_blank" >RIV/68407700:21220/15:00240597 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7237657" target="_blank" >http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7237657</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICMA.2015.7237657" target="_blank" >10.1109/ICMA.2015.7237657</a>

Jazyk výsledku

angličtina

Název v původním jazyce

New Approach of Fixation Possibilities Investigation for Snake Robot in the Pipe

Popis výsledku v původním jazyce

The research field of the snake robots provides a large scale of new information. The snake robots locomotion in pipes represents one of many complicated problems attracting the attention only in recent time period. During this study an experimental environment was designed corresponding to the pipe of U shaped cross section. This article describes a new innovative kinematic structure enabling both rotary and translational movements of links of a snake robot. Combination of these two robot constrains in constructions provides new possibilities of locomotion in a confined space. The main work contribution consists in the analysis of geometric configuration of links in static fixation according to their displacements and required actuators electric power. In the experiment with physical model the method of digital image correlation was used because of the possibilities to take the movement of high dynamic range. Contribution of this experiment furnishes new information and new approach in solving the existing problem.

Název v anglickém jazyce

New Approach of Fixation Possibilities Investigation for Snake Robot in the Pipe

Popis výsledku anglicky

The research field of the snake robots provides a large scale of new information. The snake robots locomotion in pipes represents one of many complicated problems attracting the attention only in recent time period. During this study an experimental environment was designed corresponding to the pipe of U shaped cross section. This article describes a new innovative kinematic structure enabling both rotary and translational movements of links of a snake robot. Combination of these two robot constrains in constructions provides new possibilities of locomotion in a confined space. The main work contribution consists in the analysis of geometric configuration of links in static fixation according to their displacements and required actuators electric power. In the experiment with physical model the method of digital image correlation was used because of the possibilities to take the movement of high dynamic range. Contribution of this experiment furnishes new information and new approach in solving the existing problem.

Druh

D - Stať ve sborníku

CEP obor

JT - Pohon, motory a paliva

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2015 IEEE International Conference on Mechatronics and Automation

ISBN

978-1-4799-7097-1

ISSN

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e-ISSN

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Počet stran výsledku

7

Strana od-do

-1

Název nakladatele

University of Science and Technology

Místo vydání

Beijing

Místo konání akce

Peking

Datum konání akce

2. 8. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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