斜拉桥缆索检测机器人运动学及结构研究
|
摘要
缆索机器人是一种能够携带相关设备攀爬缆索并对其进行高空作业的爬行机器人。它的出现是近年来各学科技术发展、人类对生产方式不断探索和改进的必然产物。这种自动化装备不但可以完成斜拉桥缆索的检测、清洗、喷涂、彩装等任务,而且还可以应用在其它类似缆索结构的生产领域,经济效益十分可观。
本论文以实现斜拉桥缆索的智能、快速检测为目标,通过分析研究,提出了一种新型、电驱动的斜拉桥缆索检测机器人的结构方案。该机器人在设计上采用对称框架式结构,体积小、重量轻,除了能实现斜拉桥缆索的高效检测功能外,经过改装,还可以完成其它的高空作业任务。机器人的主体部分近似一个等边三角形,由三个相同型号的电机驱动,通过对称均布于本体两侧的六个轮子实现机器人的运动。机器人驱动系统采用同步带传动,检测速度要求大约为1.5m/min左右,通过各驱动轮上的编码器实现系统的闭环运动控制。
在提出总体结构方案的基础之上,本文还对机器人进行了运动学和运动同步分析,综合考虑机器人向上爬行和向下爬行的运动要求,推导出了机器人的驱动附着条件,从而对电机的选型计算和零部件的设计提供了必要的依据和参考。同时,本论文还运用了三维设计软件Pro/ENGINEENR建立了机器人的实体模型,并结合机器人的结构特点,运用该软件中的Mechanica模块对机器人的关键零部件进行了结构优化设计,使其结构达到了轻质优化的目的,大大降低了机器人机体质量。最后,在该软件的机构设计模块中对机器人进行了运动仿真分析,模拟机器人的运动过程,检验各元件之间的干涉情况和机器人的运行轨迹。
Cable robot is a kind of climbing robot which can carry some relevant devices to do work in the high sky. The emergence of this robot is an inevitable result of the quick development of science and technology and the continual exploration and improvement of the produce fashion in recent years. This automatic device not only can accomplish the tasks of inspection, cleaning, spray, decoration of the cable-stayed bridge’s cable, but also can be applied to in the other produce fields which resemble to the structure of cable. All this will take to great economic benefits.
The aim of this paper is to realize the intelligent and quick inspection of the cable-stayed bridge’s cable, base on the analysis and research,we bring forward the structure scheme of a kind of new type and electricity-driven cable inspection robot. In the design, this robot takes on symmetric frame structure, has a small cubage and a light mass,in addition to accomplish the high efficiency inspection of the cable, this robot can do other high space tasks through simple refit. The main body of this robot resembles to an equilateral triangle, under the driving of the three same motor, it can move on the cable through the six wheels which symmetrically installed on the both sides of the main body. The robot’s driving system adopts synchronization belt, the speed of inspection is 1.5m/min, and it can accomplish the close loop control by the signal of coder which installed on the three driving wheels.
Base on the structure scheme, this paper analyzed the kinematics and motion synchronization, deduced the robot’s driving condition and adhesive condition through entirely considering the motion demand when the robot climbs up and down the cable, the necessary conditions and reference for the choice of motor and the design of key parts were provided. Meanwhile, three-dimensional model of the robot was established by means of Pro/Engineer soft, combined to this robot’s structure characteristic, this thesis also optimized the robot’s key parts’structure by using the module of Mechanica in the Pro/Engineer soft, and to do like this, the parts’whole structure were more reasonable, the whole mass of this robot was highly reduced. At last, the robot’s motion simulation analysis was done in the structure design module of this three-dimensional soft, and all this would let us simulate the motion process of this robot and verify the intervention among all the parts and the motion trace of the robot.
本论文以实现斜拉桥缆索的智能、快速检测为目标,通过分析研究,提出了一种新型、电驱动的斜拉桥缆索检测机器人的结构方案。该机器人在设计上采用对称框架式结构,体积小、重量轻,除了能实现斜拉桥缆索的高效检测功能外,经过改装,还可以完成其它的高空作业任务。机器人的主体部分近似一个等边三角形,由三个相同型号的电机驱动,通过对称均布于本体两侧的六个轮子实现机器人的运动。机器人驱动系统采用同步带传动,检测速度要求大约为1.5m/min左右,通过各驱动轮上的编码器实现系统的闭环运动控制。
在提出总体结构方案的基础之上,本文还对机器人进行了运动学和运动同步分析,综合考虑机器人向上爬行和向下爬行的运动要求,推导出了机器人的驱动附着条件,从而对电机的选型计算和零部件的设计提供了必要的依据和参考。同时,本论文还运用了三维设计软件Pro/ENGINEENR建立了机器人的实体模型,并结合机器人的结构特点,运用该软件中的Mechanica模块对机器人的关键零部件进行了结构优化设计,使其结构达到了轻质优化的目的,大大降低了机器人机体质量。最后,在该软件的机构设计模块中对机器人进行了运动仿真分析,模拟机器人的运动过程,检验各元件之间的干涉情况和机器人的运行轨迹。
Cable robot is a kind of climbing robot which can carry some relevant devices to do work in the high sky. The emergence of this robot is an inevitable result of the quick development of science and technology and the continual exploration and improvement of the produce fashion in recent years. This automatic device not only can accomplish the tasks of inspection, cleaning, spray, decoration of the cable-stayed bridge’s cable, but also can be applied to in the other produce fields which resemble to the structure of cable. All this will take to great economic benefits.
The aim of this paper is to realize the intelligent and quick inspection of the cable-stayed bridge’s cable, base on the analysis and research,we bring forward the structure scheme of a kind of new type and electricity-driven cable inspection robot. In the design, this robot takes on symmetric frame structure, has a small cubage and a light mass,in addition to accomplish the high efficiency inspection of the cable, this robot can do other high space tasks through simple refit. The main body of this robot resembles to an equilateral triangle, under the driving of the three same motor, it can move on the cable through the six wheels which symmetrically installed on the both sides of the main body. The robot’s driving system adopts synchronization belt, the speed of inspection is 1.5m/min, and it can accomplish the close loop control by the signal of coder which installed on the three driving wheels.
Base on the structure scheme, this paper analyzed the kinematics and motion synchronization, deduced the robot’s driving condition and adhesive condition through entirely considering the motion demand when the robot climbs up and down the cable, the necessary conditions and reference for the choice of motor and the design of key parts were provided. Meanwhile, three-dimensional model of the robot was established by means of Pro/Engineer soft, combined to this robot’s structure characteristic, this thesis also optimized the robot’s key parts’structure by using the module of Mechanica in the Pro/Engineer soft, and to do like this, the parts’whole structure were more reasonable, the whole mass of this robot was highly reduced. At last, the robot’s motion simulation analysis was done in the structure design module of this three-dimensional soft, and all this would let us simulate the motion process of this robot and verify the intervention among all the parts and the motion trace of the robot.
引文
[1]武新军,康宜华,杨叔子.斜拉桥缆索缺陷检测机器人的研制[J].机械与子,2001,(1):47-48.
[2]王文涛.斜拉桥换索工程[M].北京:人民交通出版社,2006.
[3]罗均,吕恬生,张家梁,王殿臣.缆索维护机器人系统的研制[J].上海交通大学学报, 2000 34(03).
[4]张家辉,吕恬生,罗均.大斜度缆索机器人的研制[J].高技术通信, 2001,01.
[5]罗均,赵波,吕恬生.缆索I号机器人样机爬行机构的分析与试验[J].中国机械工程, 2001,12(02).
[6]张家梁,吕恬生,王钧功,王殿臣.斜拉桥爬缆机构的研制[J].中国机械工程,2001,12(12).
[7] Pradip N.Sheth. The Use of Robotics for Nondestructive Inspection of Steel Highway Bridges and Structures[J]. VTRC 05-CR8 Virginia Transportation Research Council, January 2005.
[8] Cetinkaya, U.Robotic System for NDE Inspection of Highway High-mast Light/Camera Poles[J]. Master of Science Thesis, Department of Mechanical and Aerospace Engineering,University of Virginia, Charlottesville, May 2000.
[9] Ali Baghani, Majid Nili Ahmadabadi, Ahad Harati. Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR) [J]. Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005.
[10] B.Yazdani, M.Nili.Ahmadabadi, A.Harati, H.Moaveni,N Soltani. Design and development of a pole climbing robotmechanism[J]. in the proceedings of Mechatronics and Robotics,Germany, Sep.2004.
[11] M Tavakoli, M R Zakerzadeh, G R Vossoughi,S Bagheri. A hybrid pole climbing and manipulating robot with minimum DOFs for construct and service applications[J]. The Industrial Robot, 2005,32 (2) ABI/INFORM Globalpg. 171-178.
[12]罗均.缆索维护机器人及其关键技术的研究[D].上海:上海交通大学博士生论文,2000.
[13] Zaidi Mohd. Ripin, Tan Beng Soon, A.B. Abdullah , Zahurin Samad. Development of a Low-Cost Modular Pole Climbing Robot[J]. TENCON 2000. Proceedings Publication Date: 2000.
[14]罗均,吕恬生,张家梁.缆索垂曲对缆索涂装机器人轴向尺寸的影响分析[J].机械设计与制造,1999, 04(04).
[15]武新军,王峻峰,杨叔子.斜拉桥缆索缺陷检测系统的研制[J].机械科学与技术,2001,20(06).
[16]张家梁,吕恬生,姚季根,曲以义.缆索机器人全气动控制系统的设计[J].液压与气动,,2000,(04).
[17] R. Aracil, R. Saltarén, O. Reinoso Parallel robots for autonomous climbing along tubular structures[J] . Robotics and Autonomous Systems, 42 (2003) 125–134.
[18] B LuK, A A CoLLie, D S Cooke, S Chen. Walking and Climbing Service Robots for Safety Inspection of Nuclear Reactor Pressure Vessels[J]. In Proceedings of 2005 Asia Pacific Conference on Risk Management and Safety, pp. 432-438, Hong Kong, China.
[19]林元培.斜拉桥[M].北京:人民交通出版社,2004.
[20]张家梁,吕恬生,罗均,姚香根.气动蠕动式缆索维护机器人的研制[J].机器人,2000,22(5).
[21]张家梁,吕恬生,郭剑鹰.在役缆索自动检测[J].无损检测,2003,25(02) P:99-101.
[22]易圣涛.斜拉桥拉索防护的现状[J].重庆交通学院学报,2000,01(19):P.6-10.
[23]铁志杰.21世纪桥梁管理的无检测[J].国外桥梁,1999,04.
[24]唐亚鸣,张河.大型桥梁拉索损伤与健康监测[J].桥梁建设,2002,(05).
[25]姜生元,韩宝琦,康长吉等.PLC在缆索机器人监控系统中的应用[J].吉林大学学报, 2004,22(1).
[26]张家辉,吕恬生,宋立博,王钧功.电动连续式爬缆机器人设计理论分析与试验[J].上海交通大学学报,2003,37(1) :1006～2467.
[27]吕恬生,罗均.缆索涂装机器人(CPR)爬升机构的研制[J].机械设计与制造工程,1999, 28(04).
[28]安永植,姜国超,安永辰.管外移动机器人运动学分析[J].机械设计,1995,(01).
[29]任芸丹,芮延年,林杰.基于模糊灰色理论爬绳机器人可靠性评价[J].苏州大学学报,2004,24(5).
[30]陈俊龙,张美琴,盛刚,陈俊华.继电器控制的爬杆机器人[J].机电工程,2005,22(9).
[31]张家梁,吕恬生.缆索涂装机器人模糊故障树分析[J].上海交通大学学报,2003,37(11).
[32]罗均,吕恬生,张家梁.缆索类维护机器人对高空管道的线性动态响应[J].上海交通大学学报,2001,35(07).
[33]刘源,姜生元,周振雄.缆索机器人导向支撑机构动力学仿真研究[J].北华大学学报,2004 05(04).
[33]罗均,吕恬生,梁庆华.缆索涂装机器人喷涂机构的设计[J].机械设计,2000,01.
[34]吕恬生,张家梁,宋立博,姚香根.气动爬缆机器人气压分析与试验[J].上海交通大学学报, 2003 ,37.
[35]徐生,张立彬,杨庆华,董晓伟等.气动蠕动爬杆机器人[J].机械工程师,2004,03.
[36]毕道钦,李蓓智,毛志敏,宋立博.气动蠕动式管外爬行机器人的设计与实现[J].机械制造,2005,43(487).
[37]耿欣,周延泽.巡线机器人爬行方案设计[J].机器人技术与应用,2002,(04).
[38]王乐天,谢文华,赵荣岗.液压技术在缆索机器人中的应用[J].液压气动与密封,2003 06(102).
[39]张家梁,吕恬生.在役缆索自动涂装研究动向[J].机电一体化,2002,(06).
[40]刘相权,郝静如.液下搅拌机器人动力学分析[J].机械研究与应用,2005,19(1).
[41] R. D. Schraft, J. G. Neugebauer,Gernot Schmierer. A modular construction system for lightweight multipurpose climbing robots[J]. Pro. Int. Conf. Field and Service Robotics, Pittsburgh, PA, pp. 353-358, 1999.
[42] B. Yazdani, M. Nili Ahmadabadi, A. Harati, H. Moaveni ,N.Soltani. Design and development of a pole climbing robot mechanism[J].In the proceedings of Mechatronics and Robotics, Germany, Sep. 2004.
[43] J. Angeles, G. Yang , I-Ming Chen. Singularity analysis of three-legged, six-DOF platform manipulators with URS legs[J]. IEEE/ASME Trans on Mechatronics, vol. 8, no. 4, pp. 469-475,December 2003.
[44] D. Kim , W.Chung. Analytic singularity equation and analysisof six-DOF parallel manipulators using local structurization method[J]. IEEE Trans. on Robotics and Automation, vol. 15, no. 4, pp. 612-622, August,1999.
[45] Stahl.F,Gaqnon.CP. Cable Corrosion in Bridges and Other Structures[M]. New York:ASCE Press,1996.
[46] David.Mayhew, Benjamin.Bachrach, W.Zev Rymer, RandallF.Beer. Development of the MACARM– a Novel Cable Robot for Upper Limb Neuro rehabilitation[J]. Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation RoboticsJune 28 - July 1, 2005, Chicago, IL, USA.
[47] H.R.Choi, S.M.Ryew, T.H.Kang, J.H.Lee, H.M.Kim. A wall climbing robot with closed link mechanism[J], Proceedings of the IEEE International Conference on Intelligent Robots and Systems, San Francisco, CA, 2000, pp. 2006–2011.
[48] R. Aracil, R.Saltaren, J.M.Sabater. Parallel climbing robot for maintenance of palm trees and large structures[J]. Proceedings of the Second International Workshopand Conference on CLIMBING and WALKING ROBOTS(CLAWAR), 1999, pp. 453–461.
[49]袁景阳.缆索维护机器人设计与仿真[D].哈尔滨:哈尔滨工业大学硕士生论文,2003.
[50]林清安. Pro/ENGINEER野火3.0中文版动态机构设计与仿真[M].北京:电子工业出版社,2007.
[51]和青芳,徐征等. Pro/ENGINEER Wildfire产品设计与机构动力学分析[M].北京:机械工业出版社,2004.
[52] Akira.Nishi and Hiromori.Miyagi. A Wall-Climbing Robot Using Propulsive Force of A Propeller(Mechanism and Control System in a Strong Wind)[J].JSME International Journal,1994,Series C ,Vol.37,No.1: pp .17 2-178.
[53] H.Schempf,E.Mutschler,B.Chemel,S.Boehmke. A Robotic Pipe-Asbestos Insulation Removal System[J].Industrial Robot,1998,Vol.25, No.3:pp .196-204.
[54]张继春,徐斌,林波.Pro/ENGINEER Wildfire结构分析[M].北京:机械工业出版社, 2004.
[55] Jack.Hollingum. Robots Explore Underground Pipes[J].Industrial Robot,1998,Vo1.25,No.5: pp.321-325.
[56] Fukuda.T,Hosokai.H.Intelligent Pipeline Inspection and Maintenance Robots[J].In: Proceedings of the 15th International Symposium on Industrial Robots,1985:339-346.
[57]祝凌云,李斌. Pro/ENGINEER运动仿真和有限元分析.北京:人民邮电出版社,2004.
[58]韩玉龙. Pro/ENGINEER Wildfire组件设计与运动仿真专业教程[M].北京:清华大学出版社,2004.
[2]王文涛.斜拉桥换索工程[M].北京:人民交通出版社,2006.
[3]罗均,吕恬生,张家梁,王殿臣.缆索维护机器人系统的研制[J].上海交通大学学报, 2000 34(03).
[4]张家辉,吕恬生,罗均.大斜度缆索机器人的研制[J].高技术通信, 2001,01.
[5]罗均,赵波,吕恬生.缆索I号机器人样机爬行机构的分析与试验[J].中国机械工程, 2001,12(02).
[6]张家梁,吕恬生,王钧功,王殿臣.斜拉桥爬缆机构的研制[J].中国机械工程,2001,12(12).
[7] Pradip N.Sheth. The Use of Robotics for Nondestructive Inspection of Steel Highway Bridges and Structures[J]. VTRC 05-CR8 Virginia Transportation Research Council, January 2005.
[8] Cetinkaya, U.Robotic System for NDE Inspection of Highway High-mast Light/Camera Poles[J]. Master of Science Thesis, Department of Mechanical and Aerospace Engineering,University of Virginia, Charlottesville, May 2000.
[9] Ali Baghani, Majid Nili Ahmadabadi, Ahad Harati. Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR) [J]. Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005.
[10] B.Yazdani, M.Nili.Ahmadabadi, A.Harati, H.Moaveni,N Soltani. Design and development of a pole climbing robotmechanism[J]. in the proceedings of Mechatronics and Robotics,Germany, Sep.2004.
[11] M Tavakoli, M R Zakerzadeh, G R Vossoughi,S Bagheri. A hybrid pole climbing and manipulating robot with minimum DOFs for construct and service applications[J]. The Industrial Robot, 2005,32 (2) ABI/INFORM Globalpg. 171-178.
[12]罗均.缆索维护机器人及其关键技术的研究[D].上海:上海交通大学博士生论文,2000.
[13] Zaidi Mohd. Ripin, Tan Beng Soon, A.B. Abdullah , Zahurin Samad. Development of a Low-Cost Modular Pole Climbing Robot[J]. TENCON 2000. Proceedings Publication Date: 2000.
[14]罗均,吕恬生,张家梁.缆索垂曲对缆索涂装机器人轴向尺寸的影响分析[J].机械设计与制造,1999, 04(04).
[15]武新军,王峻峰,杨叔子.斜拉桥缆索缺陷检测系统的研制[J].机械科学与技术,2001,20(06).
[16]张家梁,吕恬生,姚季根,曲以义.缆索机器人全气动控制系统的设计[J].液压与气动,,2000,(04).
[17] R. Aracil, R. Saltarén, O. Reinoso Parallel robots for autonomous climbing along tubular structures[J] . Robotics and Autonomous Systems, 42 (2003) 125–134.
[18] B LuK, A A CoLLie, D S Cooke, S Chen. Walking and Climbing Service Robots for Safety Inspection of Nuclear Reactor Pressure Vessels[J]. In Proceedings of 2005 Asia Pacific Conference on Risk Management and Safety, pp. 432-438, Hong Kong, China.
[19]林元培.斜拉桥[M].北京:人民交通出版社,2004.
[20]张家梁,吕恬生,罗均,姚香根.气动蠕动式缆索维护机器人的研制[J].机器人,2000,22(5).
[21]张家梁,吕恬生,郭剑鹰.在役缆索自动检测[J].无损检测,2003,25(02) P:99-101.
[22]易圣涛.斜拉桥拉索防护的现状[J].重庆交通学院学报,2000,01(19):P.6-10.
[23]铁志杰.21世纪桥梁管理的无检测[J].国外桥梁,1999,04.
[24]唐亚鸣,张河.大型桥梁拉索损伤与健康监测[J].桥梁建设,2002,(05).
[25]姜生元,韩宝琦,康长吉等.PLC在缆索机器人监控系统中的应用[J].吉林大学学报, 2004,22(1).
[26]张家辉,吕恬生,宋立博,王钧功.电动连续式爬缆机器人设计理论分析与试验[J].上海交通大学学报,2003,37(1) :1006～2467.
[27]吕恬生,罗均.缆索涂装机器人(CPR)爬升机构的研制[J].机械设计与制造工程,1999, 28(04).
[28]安永植,姜国超,安永辰.管外移动机器人运动学分析[J].机械设计,1995,(01).
[29]任芸丹,芮延年,林杰.基于模糊灰色理论爬绳机器人可靠性评价[J].苏州大学学报,2004,24(5).
[30]陈俊龙,张美琴,盛刚,陈俊华.继电器控制的爬杆机器人[J].机电工程,2005,22(9).
[31]张家梁,吕恬生.缆索涂装机器人模糊故障树分析[J].上海交通大学学报,2003,37(11).
[32]罗均,吕恬生,张家梁.缆索类维护机器人对高空管道的线性动态响应[J].上海交通大学学报,2001,35(07).
[33]刘源,姜生元,周振雄.缆索机器人导向支撑机构动力学仿真研究[J].北华大学学报,2004 05(04).
[33]罗均,吕恬生,梁庆华.缆索涂装机器人喷涂机构的设计[J].机械设计,2000,01.
[34]吕恬生,张家梁,宋立博,姚香根.气动爬缆机器人气压分析与试验[J].上海交通大学学报, 2003 ,37.
[35]徐生,张立彬,杨庆华,董晓伟等.气动蠕动爬杆机器人[J].机械工程师,2004,03.
[36]毕道钦,李蓓智,毛志敏,宋立博.气动蠕动式管外爬行机器人的设计与实现[J].机械制造,2005,43(487).
[37]耿欣,周延泽.巡线机器人爬行方案设计[J].机器人技术与应用,2002,(04).
[38]王乐天,谢文华,赵荣岗.液压技术在缆索机器人中的应用[J].液压气动与密封,2003 06(102).
[39]张家梁,吕恬生.在役缆索自动涂装研究动向[J].机电一体化,2002,(06).
[40]刘相权,郝静如.液下搅拌机器人动力学分析[J].机械研究与应用,2005,19(1).
[41] R. D. Schraft, J. G. Neugebauer,Gernot Schmierer. A modular construction system for lightweight multipurpose climbing robots[J]. Pro. Int. Conf. Field and Service Robotics, Pittsburgh, PA, pp. 353-358, 1999.
[42] B. Yazdani, M. Nili Ahmadabadi, A. Harati, H. Moaveni ,N.Soltani. Design and development of a pole climbing robot mechanism[J].In the proceedings of Mechatronics and Robotics, Germany, Sep. 2004.
[43] J. Angeles, G. Yang , I-Ming Chen. Singularity analysis of three-legged, six-DOF platform manipulators with URS legs[J]. IEEE/ASME Trans on Mechatronics, vol. 8, no. 4, pp. 469-475,December 2003.
[44] D. Kim , W.Chung. Analytic singularity equation and analysisof six-DOF parallel manipulators using local structurization method[J]. IEEE Trans. on Robotics and Automation, vol. 15, no. 4, pp. 612-622, August,1999.
[45] Stahl.F,Gaqnon.CP. Cable Corrosion in Bridges and Other Structures[M]. New York:ASCE Press,1996.
[46] David.Mayhew, Benjamin.Bachrach, W.Zev Rymer, RandallF.Beer. Development of the MACARM– a Novel Cable Robot for Upper Limb Neuro rehabilitation[J]. Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation RoboticsJune 28 - July 1, 2005, Chicago, IL, USA.
[47] H.R.Choi, S.M.Ryew, T.H.Kang, J.H.Lee, H.M.Kim. A wall climbing robot with closed link mechanism[J], Proceedings of the IEEE International Conference on Intelligent Robots and Systems, San Francisco, CA, 2000, pp. 2006–2011.
[48] R. Aracil, R.Saltaren, J.M.Sabater. Parallel climbing robot for maintenance of palm trees and large structures[J]. Proceedings of the Second International Workshopand Conference on CLIMBING and WALKING ROBOTS(CLAWAR), 1999, pp. 453–461.
[49]袁景阳.缆索维护机器人设计与仿真[D].哈尔滨:哈尔滨工业大学硕士生论文,2003.
[50]林清安. Pro/ENGINEER野火3.0中文版动态机构设计与仿真[M].北京:电子工业出版社,2007.
[51]和青芳,徐征等. Pro/ENGINEER Wildfire产品设计与机构动力学分析[M].北京:机械工业出版社,2004.
[52] Akira.Nishi and Hiromori.Miyagi. A Wall-Climbing Robot Using Propulsive Force of A Propeller(Mechanism and Control System in a Strong Wind)[J].JSME International Journal,1994,Series C ,Vol.37,No.1: pp .17 2-178.
[53] H.Schempf,E.Mutschler,B.Chemel,S.Boehmke. A Robotic Pipe-Asbestos Insulation Removal System[J].Industrial Robot,1998,Vol.25, No.3:pp .196-204.
[54]张继春,徐斌,林波.Pro/ENGINEER Wildfire结构分析[M].北京:机械工业出版社, 2004.
[55] Jack.Hollingum. Robots Explore Underground Pipes[J].Industrial Robot,1998,Vo1.25,No.5: pp.321-325.
[56] Fukuda.T,Hosokai.H.Intelligent Pipeline Inspection and Maintenance Robots[J].In: Proceedings of the 15th International Symposium on Industrial Robots,1985:339-346.
[57]祝凌云,李斌. Pro/ENGINEER运动仿真和有限元分析.北京:人民邮电出版社,2004.
[58]韩玉龙. Pro/ENGINEER Wildfire组件设计与运动仿真专业教程[M].北京:清华大学出版社,2004.