小口径管道内蠕动式移动机构的运动模拟和动力学分析

吕恬生; 宋钰

吕恬生, 宋钰. 小口径管道内蠕动式移动机构的运动模拟和动力学分析[J]. 机器人, 1995, 17(1): 42-47.

引用本文:

吕恬生, 宋钰. 小口径管道内蠕动式移动机构的运动模拟和动力学分析[J]. 机器人, 1995, 17(1): 42-47.

Lü Tiansheng, SONG Yu. KINEMATIC SIMULATION AND DYNAMICS ANALYSIS FOR THE SQUIRMING MECHANISM IN PIPELINE WITH SMALL DIAMETER[J]. ROBOT, 1995, 17(1): 42-47.

Citation:

Lü Tiansheng, SONG Yu. KINEMATIC SIMULATION AND DYNAMICS ANALYSIS FOR THE SQUIRMING MECHANISM IN PIPELINE WITH SMALL DIAMETER[J]. ROBOT, 1995, 17(1): 42-47.

小口径管道内蠕动式移动机构的运动模拟和动力学分析

吕恬生,
宋钰

KINEMATIC SIMULATION AND DYNAMICS ANALYSIS FOR THE SQUIRMING MECHANISM IN PIPELINE WITH SMALL DIAMETER

摘要

摘要: 小口径管道内蠕动式移动机构是一种新颖的管道内无损探测牵引机构．本文主要对该机构在直管内移动过程中可能遇到的各种情况进行了运动模拟，并且对它进行了动力学分析．

Abstract: The squirming mechanism in pipeline is a new type of towing mechanism for non-destructive inspection in pipeline. This paper brings forward a method of kinematic simulation of varies cases when the mechanism moves in straight pipelines and its dynamic analysis.

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