TY -的A2 -史,身子盟——Imajo日本AU -高田,优格盟——Kashinoki Mikiji PY - 2015 DA - 2015/10/01 TI -紧凑的发展和评价机器人模仿寄生蟹检查管道的外表面SP - 312780六世- 2015 AB -陆地寄居蟹是一种隐士螃蟹生活在陆地上,而典型的寄居蟹则生活在海里。它们有垂直爬树的能力。它们的爪子使它们能挂在树上。本研究开发了一种外管检测机器人。它的运动机制是模仿陆地寄居蟹的爪子而发展起来的。它装有两个无框轮子。每条轮辐顶端都有一个钕磁铁，这使得机器人可以连在垂直的钢管上。此外，该机器人还具有调节左右车轮外倾角的机构，使其能够紧抓不同直径的管道。通过水平放置、垂直放置和倾斜放置不同直径的钢管，对机器人的性能进行了测试。 The robot attempted to move a certain distance along a pipe, and its success rate was measured. It was found that the robot could successfully travel along pipes with vertical orientations, although it sometimes fell from oblique or horizontal pipes. The most likely reason for this is identified and discussed. Certain results were obtained in laboratory. Further experiments in actual environment are required. SN - 1687-9600 UR - https://doi.org/10.1155/2015/312780 DO - 10.1155/2015/312780 JF - Journal of Robotics PB - Hindawi Publishing Corporation KW - ER -