scholarly journals Development of a novel self-locking mechanism for continuous propulsion inchworm in-pipe robot

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774940 ◽  
Author(s):  
Delei Fang ◽  
Jianzhong Shang ◽  
Zirong Luo ◽  
Pengzhi Lv ◽  
Guoheng Wu
Keyword(s):  
Performance Evaluation ◽  
Hydraulic Cylinder ◽  
Parameter Design ◽  
The Novel ◽  
Average Speed ◽  
Synchronous Motion ◽  
Locking Mechanism ◽  
Hydraulic Cylinders ◽  
New Type ◽  
And Performance

In-pipe robots are usually used to carry many kinds of equipment to operate in the pipeline. In this article, a novel self-locking mechanism for continuous propulsion inchworm in-pipe robot is proposed. The constant power and continuous locomotion principle is obtained by upgrading the traditional pipeline robot. The structure of the inchworm in-pipe robot is designed including self-locking mechanism and telescopic mechanism. The operating principle of self-locking mechanism is analyzed for parameter design and performance evaluation. A new type of hydraulic cylinder series circuit is introduced, which realizes synchronous motion in the related mechanisms of pipe robot. And the dynamic characteristics of the hydraulic cylinders are analyzed and simulated to verify feasibility of the circuit. The prototype is developed to prove that the novel inchworm in-pipe robot can adapt to diameter of 140–180 mm pipe and has 550 N traction ability with the average speed of 0.11 m/s.

Design of Hydraulic Locking Mechanism Based on Material Friction

2015 ◽  
Vol 667 ◽  
pp. 481-486
Author(s):  
Wen Dong Zhu ◽  
Xu Dong Pan ◽  
Ye Li ◽  
Wei Jie Huo
Keyword(s):  
Aluminum Alloy ◽  
Cast Iron ◽  
Nodular Cast Iron ◽  
Hydraulic Cylinder ◽  
Steel Cylinder ◽  
Locking Mechanism ◽  
Long Time ◽  
Hydraulic Cylinders ◽  
New Type ◽  
Heavy Loads

Hydraulic cylinders are the actuators used in driving and bearing heavy loads. In normal conditions, it is required to bear load steadily for long time. Due to the inevitable internal leakage of traditional hydraulic cylinder, the strict conditions of the applications are always hard to meet. The materials selecting of cylinder and lock sleeve is very important on a new type of locking mechanism. This paper presents the design of hydraulic locking mechanism based on material friction properties. The strength, elasticity, temperature coefficient, and the factors such as friction coefficient are considered in the process of design. The choosing of materials of the cylinder and the lock sleeve are proposed based on different specific situations, such as steel and steel, steel and nodular cast iron, steel and bronze, steel and aluminum alloy. The paper take 45# steel cylinder body and QT50-5 lock sleeve as an example to illustrate the design process of locking mechanism.

Application of a New Pressure Intensifier Using Oil Hammer to Pressure Control of a Hydraulic Cylinder

1989 ◽  
Vol 111 (2) ◽  
pp. 322-328 ◽  
Author(s):  
K. Suzuki
Keyword(s):  
Pressure Rise ◽  
Pressure Control ◽  
Hydraulic Cylinder ◽  
Control Device ◽  
Hydraulic Pressure ◽  
New Type ◽  
And Performance ◽  
Pump Pressure

In a previous paper the author proposed to actively utilize the pressure rise phenomenon of an oil hammer and a new type of a hydraulic pressure intensifier using oil hammers. In this paper, one application of this intensifier is tested, where the intensifier is connected to a hydraulic cylinder. The hydraulic cylinder is driven by pressure which is several times higher than the original pump pressure. In addition, a method to use this system as a pressure control device is proposed and its principle and performance is clarified.

A New Type of Surfactant in the Synthesis and Performance Evaluation

2013 ◽  
Vol 774-776 ◽  
pp. 960-963
Author(s):  
Qing Wang Liu ◽  
Pan Niu
Keyword(s):  
Performance Evaluation ◽  
Surface Activity ◽  
Gemini Surfactants ◽  
High Surface ◽  
Chemical Compounds ◽  
Theoretical Support ◽  
New Type ◽  
And Performance ◽  
New Generation ◽  
High Surface Activity

Gemini surfactants are chemical compounds known as new generation of surfactants that their molecules has two hydrophilic groups ,two hydrophobic groups and a spacer.They have low CMC value and high surface activity.Gemini surfactants are inapproachable by any surfactants that are used for TOR nowadays.This essay is meant to solve the problems faced in the territory by using the remarkably high surface activity,introducing Gemini surfactants to TOR and launch series of experiments.Meanwhile,it provides technical and theoretical support for applying Gemini surfactants into the field.

Simulation and performance evaluation of a new type of powered Dynamic Ankle Foot Orthosis

2011 ◽  
Author(s):  
Mohd Nor Azmi Bin Ab. Patar ◽  
Mohamad Mali ◽  
Mohd Hanif Mohd Ramli ◽  
Ahmad Khushairy Makhtar ◽  
Jamaluddin Mahmud
Keyword(s):  
Performance Evaluation ◽  
Ankle Foot Orthosis ◽  
New Type ◽  
And Performance ◽  
Foot Orthosis

Design, implementation, and performance evaluation of a 4-DOF parallel robot

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 107-118 ◽  
Author(s):  
Hee-Byoung Choi ◽  
Atsushi Konno ◽  
Masaru Uchiyama
Keyword(s):  
Performance Evaluation ◽  
Parallel Mechanism ◽  
High Speed ◽  
Parallel Robot ◽  
Necessary Condition ◽  
Parallel Mechanisms ◽  
System Configuration ◽  
Tracking Accuracy ◽  
New Type ◽  
And Performance

SUMMARYThis paper deals with the design, implementation, and performance evaluation of a new type of 4-DOF parallel mechanism providing three translations and one rotation for high-speed handling and machining. This parallel mechanism is named H4. A necessary condition and system configuration of the H4 are also described. Hardware and kinematics of the H4 is addressed and the manipulability ellipsoid which is one of the widely used methods to examine the design of parallel mechanisms is addressed. The performance evaluation is carried out to demonstrate the H4 robot. The simulation and experimental results show that three different controllers, the PD, PD + velocity feed-forward, and dynamic compensation controller, dramatically improve the trajectory tracking accuracy.

Sign in / Sign up

Export Citation Format

Share Document