Bioinspiration and Robotics Part 12 potx

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Bioinspiration and Robotics Part 12 potx

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[...]... 397 398 Bioinspiration and Robotics: Walking and Climbing Robots In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 399 400 Bioinspiration and Robotics: Walking and Climbing Robots φ φ φ In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 401 402 Bioinspiration and Robotics: Walking and Climbing Robots 404 Bioinspiration and Robotics: Walking and Climbing... Climbing Robots Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots 405 406 Bioinspiration and Robotics: Walking and Climbing Robots Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots ϕi (t ) = Ai sin ϕi (t ) Ti φi 2 t + φi + Oi Ti i ∈ {1 M } 407 408 Bioinspiration and Robotics: Walking and Climbing Robots ϕi ∈ {Oi − Ai ,Oi + Ai } |Oi |+ Ai... ±2φ 388 Bioinspiration and Robotics: Walking and Climbing Robots Front Segment Half Sphere Inner Universal Joint Lower Sphere Gear Outer Universal Joint Upper Sphere Gear Lower Sphere Gear Magnetic Clutch Upper Sphere Gear Magnetic Clutch Motor Rear Segment In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines Branch Elbow 389 390 Bioinspiration and Robotics: Walking and Climbing... S te p 2 S te p 2 S te p 3 394 Bioinspiration and Robotics: Walking and Climbing Robots S te p 1 S te p 2 S tr a ig h t d r iv e T u r n d r iv e C y x z C a se 1 C a se 2 C a se 3 C a se 5 C a se 7 C a se 9 C a se 4 C a se 6 C a se 8 C a se 1 0 In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines 395 396 Bioinspiration and Robotics: Walking and Climbing Robots In-pipe Robot... t d r iv e sp a c e A P r e lim in a r y sp a c e B C D T u r n d r iv e sp a c e F ro n t w h e e l w e t S e c tio n C -C S e c tio n A -A S e c tio n B -B S e c tio n D -D 385 386 Bioinspiration and Robotics: Walking and Climbing Robots S te p 1 S te p 1 : u n fo ld e d S te p 2 S te p 2 : fo ld e d S lip a n d d is to r tio n S tr a ig h t d r iv e y x A C u rv e R C u rv e R 2 T 1 N o n -c o n...384 Bioinspiration and Robotics: Walking and Climbing Robots (rc + 0.5 D cos φ ) cos λ Pe (φ , λ ) = (rc + 0.5 D cos φ ) sin λ 0.5 D sin φ φ y S C S tr a ig h t P ip e e x O r A rc P C u rv e R A B C Se c ti on C A A D d S... d u le M o to r c a s in g S to p p e r S p r in g R e a r w h e e l F ro n t w h e e l S lid e r L in k a g e s C e n tr a l lin k a g e s u p p o r te r C e n tr a l s h a ft ω 392 Bioinspiration and Robotics: Walking and Climbing Robots R e a r a u x ilia r y w h e e l Id le w h e e l M o to r & E n c o d e r M R e a r w h e e l F ro n t w h e e l A x is fo r p o w e r tr a n s m is s io n M . o w l f C i r c l e A C i r c l e B r c 0 . 5 D S e e ¦ c r c r c r 3 e PR∈ Bioinspiration and Robotics: Walking and Climbing Robots 384 ( 0.5 cos )cos ( , ) ( 0.5 cos )sin 0.5 sin c ec rD PrD D φ λ φ λ φ λ φ + ªº «» =+ «» «» ¬¼ φ E. s p a c e F r o n t w h e e l w e t R e a r w h e e l s e t A A B B C C D D Bioinspiration and Robotics: Walking and Climbing Robots 386 S t e p 1 : u n f o l d e d S t e p 2 : f o l d e. r i v i n g W h e e l A d j u s t a b l e L i n k M e c h a n i s m φ 2 φ ± Bioinspiration and Robotics: Walking and Climbing Robots 388 Inner Universal Joint Half Sphere Lower Sphere Gear Outer

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