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chang li feng bi guan nei xing zou ji qi ren ji gou lei xing yan jiu
Author(s): 
Pages: 53-58
Year: Issue:  6
Journal: Robot

Keyword:  管内检测机器人机构演化行走装置机器人机构;
Abstract: 本文提出了用管径适应性系数A(A0.1)衡量管内行走机器人机构对管径变化的适应能力的方法,并用该方法评价了4种典型管内行走机器人机构。通过机构演化原理演化了各种形式的管内行走机器人机构,揭示了各种管内行走机构的内在联系,给出了各种行走机构驱动轮上正压力与机构参数的关系。本文还对斜叉式管内行走机构进行了实验研究。
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