[雙語翻譯]機器人設(shè)計外文翻譯--管道清潔和檢查機器人的研究

1、3400 英文單詞， 英文單詞，1.7 萬英文字符，中文 萬英文字符，中文 5600 字文獻出處： 文獻出處：Truong-Thinh, Nguyen, Nguyen Ngoc-Phuong, and Tuong Phuoc-Tho. “A study of pipe-cleaning and inspection robot.“ Robotics and Biomimetics (ROBIO), 2011 IEEE Internati

2、onal Conference on. IEEE, 2011. 2593-2598.A study of pipe-cleaning and inspection robotNguyen Truong-Thinh, Nguyen Ngoc-Phuong, Tuong Phuoc-ThoAbstractPipe cleaning and inspection robot is one of the new concepts of prof

3、essional service robots. Sewer pipes are typically of non-man-entry classification (less than 0.8 m diameter). In this paper, a pipe-cleaning and inspection robot specifically designed for this function is proposed. This

4、 paper presents a new approach for design and development of cleaning robots in an unknown pipe workspace. To do so, we propose a new cutting method for cleaning work as well as an underwater inspection method. In this

5、 study, we discuss a communication which makes the cleaning robot navigate the sewer pipe. Finally, we also evaluate the performance of our proposed inspection and cleaning processes via experiments and real tests. Also,

6、 we verify the effectiveness of the proposed methods through computer simulations.Keywords: sewer robot; cleaning robot; inspection robot.I. INTRODUCTIONThe public sewage system in Viet Nam works in no good conditions: s

7、ewage may leak out, possibly polluting soil and ground water, and it may wash away soil, possibly crowding the foundations of buildings or the underground of streets and pavements. Often wastewater contains other chemica

8、ls used in modern life. These include heavy metals which are not biodegradable and may accumulate in river sediments, plants, insects, and fish. They originate from both industrial and domestic sources and (above certain

9、 levels) can be toxic to animals and humans. In Viet Nam, sometimes, the industrial discharges flow to sewers or householders always flush away toxic everything or products they use to the sewage. Almost of waste-water p

10、ipes in Viet Nam is non-man-sized passable sewages with a diameter less than 80cm. Maintenance of thousands km of sewer requires their permanent surveying. This paper presents the design and developed of wheeled, one- li

11、nk vehicles for monitoring and cleaning works. The sewer robot is remote controlled via cable. These are generally surveyed by mounting a camera and a light either on a sled, which is dragged, or on a tractor, which is d

12、riven through the sewer, producing a video record of the pipe’s condition. In both cases ground operators who control the vehicle use a cable for guidance and data acquisition. The above process is both complicated and l

13、abour intensive in practice. This is the basic motivation of designing a robot that is able to travel autonomously through sewers. Several approaches are made on how to use a sewer video record to recover instant camera

14、orientation and to assess sewer pipe deformations. The objective of our paper is to look into possibilities of an active vision system for, i.e. to investigate how a sewer robot can use its camera to keep orientation wit

15、hin a pipe while moving. The work is part of a project aimed at developing a robot for autonomous sewer surveying. The study is concentrated upon typical concrete sewer. The robot, which is about half size of the sewer d

16、iameter, must be able to align itself with the pipe axis. The only a priory information known is the geometrical shape of the sewer (cylindrical, etc.). This implies a geometrical constraint on the environment the robot

17、can expect.size a tracking system, theories represent some parameters as the tracking width B, the tracking height D, tracking length l, grouser depth h, and the robot weight W. Besides, other parameters can be used as i

18、nternal friction angle Ø, cohesion coefficient c, density ? , deformation moduli kc and kØ, power ratio n, and derived parameters Nc, Nq and Nr. In the robot, ratio of length to width is between 1.0 and 1.8[4].

19、 The sinkage depth z depends on the robot weight and sludge parameters like as:Drawbar pull is calculated like as:Figure 2. Impact of tracking wheel rrousers on step-climbing.Figure 3. Traction diagram to evalute robot t

20、errainability.Because the tracking sinkage for sewer robot is always smaller than 40% of tracking height, thus the mobile robot cab moves through the medium. This requires as large a contact area as possible. Tracking wi

21、dth should also be maximized to reduce sinkage in cohesive materials as dreg, sludge spots. In this study, to increase traction and reduce compaction and bulldozing resistance, the tracking length is designed optimally t

22、o get the good traction with size and shape of grousers and reduced sinkage, without affecting the turning ability of the robot.To climb the obstacles in circle pipe, the grousers of sewer robot is designed especially. T