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| Content Provider | IET Digital Library |
|---|---|
| Author | Bai, Long Huang, Xiaolong Liu, Xiangquan Gao, Hong Huang, Min |
| Abstract | Aiming at the problem of the detect and rescue in the coal mine with the leaking vas, a type of pneumatic hexapod explored robot which uses a high pressure nitrogen cylinder as the power producer is designed. The leg mechanism is designed with three degrees of freedom, the straight line walking and turning gaits are planned, which are testified by the virtual prototype. The control loop of the cylinder is designed with the magnetic valve with three positions and five paths. The air bottle, the reducing valve, the general follow control part (GFC) the magnetic valve with three positions and five paths, the cylinder are selected and the air supply loop of the hole machine is designed, the 3D model of the hole machine is built which is used to confirm the installing form of the hole body. The experimental prototype is obtained at last. The power supply and control circuits of the magnetic valves are designed, the control series is written on the Arduino single chip. The experiment of the leg swing of the robot on the stage is proceeded which verifies the correctness of the design. |
| Starting Page | 8932 |
| Ending Page | 8936 |
| Page Count | 5 |
| Volume Number | 2019 |
| e-ISSN | 20513305 |
| Issue Number | Issue 23, Dec (2019) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/joe/2019/23 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/joe.2018.9151 |
| Journal | The Journal of Engineering |
| Publisher | The Institution of Engineering and Technology |
| Publisher Date | 2019-03-25 |
| Access Restriction | Open |
| Rights License | Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/) |
| Subject Keyword | Air Bottle Air Supply Loop Coal Mine Control Circuit Control Loop Degree of Freedom Detect Rescue Gait Analysis Hexapod Robot Experimental Prototype High Pressure Nitrogen Cylinder Hole Body Hole Machine Leaking Vas Leg Mechanism Legged Locomotion Magnetic Valve Mechanical–electrical–pneumatic Systematic Design Exploration Mobile Robots Motion Control Pneumatic Hexapod Explored Robot Position Control Power Producer Power Supply Reducing Valve Robot And Manipulator Mechanics Robot Kinematics Spatial Variables Control Valves Virtual Prototype Virtual Prototyping |
| Content Type | Text |
| Resource Type | Article |
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