本研究提出一創新的螺旋式移動管線檢測機器人，此管線機器人在結構上為一差動雙輪驅動車加上一可旋轉的支撐臂，並搭配主動式方向輪。機器人在管路中進行檢測時，是採用以支撐臂張開撐住管壁的螺旋攀爬模式。首先，本研究對穩定螺旋移動的姿態做了支撐力學分析與穩定性分析，來了解穩定螺旋運動的成立條件，再根據姿態分析，推導出機器人螺旋攀爬的運動學模型，並得到二階方向角動態方程式。螺旋攀爬的方向角量測將由單一陀螺儀得到，並透過卡爾曼濾波器使量測最佳化。為了讓循跡控制器的強健性更高，本研究將擴階動態方程式以加入積分器，並利用變數變換為誤差狀態模型，接著利用Pole Placement method為機器人設計循跡控制器。最後實現此螺旋式移動管線檢測機器人在水平管、傾斜管與垂直管中進行不同螺距的螺旋攀爬移動。

This research is on the development of a creative pipeline robot with spiral-moving capability. This pipeline inspection robot is a differential wheeled robot with a stretchable supporting arm adding an active direction wheel on the top. When the robot does the inspection work, the robot will stretch the supporting arm, and the normal force on the pipe wall can be maintained adequately. Furthermore, by adjusting the actuation wheels and the direction wheel, a spiral motion can be resulted. In the beginning, this research performs supporting force analysis and stability analysis on the stable spiral-moving attitude to know the conditions of the stable spiral movement. Then, based on the result of the attitude analysis, we deduce the kinematics model of the spiral motion of the robot, and gets the second- order direction angle equation model. In the measurement part, we use gyroscope to get the measurement of direction angle; moreover, we apply Kalman filter to optimize the measurement and to eliminate the noise. To make the trajectory controller more robust, we extend the order of equation to add an integrator; besides, we utilize variable transformation to make the direction angle states become direction angle error states. After that, use Pole Placement method to design controller gain. Finally, we conduct experiments to verify the performance of spiral motion in horizontal pipeline, inclined pipeline, and vertical pipeline with different pitches of spiral.

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URL: http://www.marathonpipeline.com
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URL: http://www.ipsrobot.com/
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