20.500.12556/RUL-134709 Research on the traction and obstacle surmounting performance of an adaptive pipeline plugging robot Adaptivni robot za mašenje netesnosti na cevovodih: raziskava oprijema in zmogljivosti prečkanja ovir To solve a series of problems such as damage, increase of impurities and obstacles caused by medium corrosion and erosion in the long-term use of the pipeline. In this paper, a multi-body distributed adaptive pipeline plugging and repairing robot with good driving performance and strong reliability is proposed by using the modular design method. By establishing the obstacle crossing model of the robot, the traction equation and obstacle crossing equation of the driving wheel and supporting wheel are studied. It can be seen from the equation that reducing the deflection angle of the driving wheel or reducing the speed of the motor spindle can improve the obstacle crossing ability. The driving unit model is established in ADAMS software, and its running speed, driving force and obstacle crossing height are simulated and analysed. The model prototype is established and verified by experiments. When the deflection angle of the robot driving wheel is set to 20 ° to 35 °, it meets the design requirements. When the deflection angle of the driving wheel is set to 20 °, the robot has large traction, good running stability and high obstacle crossing height. The maximum obstacle crossing height is 6 mm. At this time, the robot reaches the best running state. The design of adaptive leakage plugging robot for buried pipeline provides an important reference for the research and development of pipeline emergency prevention and control equipment. pipeline leakage plugging robots obstacle crossing optimum driving angle simulation analysis netesnost cevovodov roboti za mašenje prečkanje ovir optimalen pogonski kot analiza s simulacijo true false true Angleški jezik Slovenski jezik Članek v reviji 2022-01-27 10:13:01 2022-01-27 10:13:07 2022-09-14 04:09:28 0000-00-00 00:00:00 2022 0 0 Str. 14-26 no. 1 Vol. 68 Jan. 2022 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:004.94 0039-2480 10.5545/sv-jme.2021.7361 95205123 RAZ_Yan_Hongwei_2022.pdf RAZ_Yan_Hongwei_2022.pdf 1 6E735981A9EEFAFAB2244CA90EC73B8C e6c10518546ac2737565189a7dda82f2235983323b1023801a25c300edfcfa25 1b50366c-7f52-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=153299 https://www.sv-jme.eu/sl/article/research-on-the-traction-and-obstacle-surmounting-performance-of-an-adaptive-pipeline-plugging-robot/ 1 23ce7a0f-7f51-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=153297 Fakulteta za strojništvo Strojniški vestnik 0 0 0