Research on Mobile Manipulator in the Application of GIS Pipeline Detection

Abstract

In this paper, Based on GIS pipeline internal inspection difficult problem, according to the special structure of GIS pipeline internal proposed using testing equipment such as the mobile manipulator and image acquisition method of GIS pipeline internal components for testing. According to the job requirements of the mobile manipulator inside the pipeline, determine the specific parameters of the mechanical arm, and the mechanical arm was established based on Matlab toolbox robot model, and has carried on the kinematics simulation of mechanical arm. The use of mobile manipulator and vehicle test prototype of mobile manipulator movement characteristics and stability are verified.