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INVESTIGATION OF THE MECHANISM OF ADAPTATION OF AN IN-TUBE ROBOT TO THE DIAMETER OF THE PIPE AND ADJUSTMENT OF TRACTION FORCE WHEN USING OMNIDIRECTIONAL WHEELS
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Butov Oleg Anatolievich
Junior Researcher/Research Engineer
Federal State Budgetary Scientific Institution "Institute for Problems of Artificial Intelligence"
Area of scientific interests: Theory of mechanisms, robotics, computer vision technology using an artificial intelligence system
UDC 538.3
DOI 10.24412/2413-7383-2024-1-63-74
Language: Russian
Annotation:
In this article, the parameters of the operation of the mechanism of adaptation to the pipe diameter of
an in-tube wheeled robot operating on the principle of "spacer" are investigated. When applying this
technique, the force and torque on the running screw of the mechanism necessary for the wheels to
contact the inner surface of the pipe and subsequent adjustment of the traction force of a wheeled
robot with a parallel mechanism are determined. This is achieved using a pressure sensor.
Keywords: adaptation mechanism, wheeled robot, omnidirectional wheel, pipe, force, torque, traction force, pressure sensor.
List of literature:
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10. Johnson, K. L. Chapters 4-6, 8, 9 . Mechanics of contact interaction = Contact Mechanics / R.V. Goldstein. 1-е. Moscow: Mir, 1989. 510 с. ISBN 5-03-000994-9.
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12. Calculator online - Find (with solution) the derivative of a function (math-solution.ru).
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14. 17HS4401: Characteristics and review of the stepper motor Nema 17 | Wiki (gistroy.ru)
15. Nema17 4-wire stepper motor, 42 Nema 17 motor, 1.5A 38mm motor (17HS4401) for 3D printer and CNC XYZ - buy at a bargain price | AliExpress
Release: 1(32)'2024
Chapter: Math modeling
How to quote:
Butov O. A. INVESTIGATION OF THE MECHANISM OF ADAPTATION OF AN IN-TUBE ROBOT TO THE DIAMETER OF THE PIPE AND ADJUSTMENT OF TRACTION FORCE WHEN USING OMNIDIRECTIONAL WHEELS
/ O. A. Butov // Problems of artificial intelligence. – 2024. – № 1(32). – С. 63-74. – DOI 10.24412/2413-7383-2024-1-63-74. – EDN FIXXCJ. - http://paijournal.guiaidn.ru/ru/2024/1(32)-5.html
