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差动式自适应管道机器人的设计与运动分析研究
Alternative TitleDesign and motion analysis of differential-drive adaptive in-pipe robot
王辰忠; 王挺; 刘君; 张朝龙; 胡绍刚
Department机器人学研究室
Source Publication机电工程
ISSN1001-4551
2016
Volume33Issue:4Pages:395-400
Contribution Rank2
Funding Organization机器人学国家重点实验室自主研究课题(Y4A120A101)
Keyword差动机构 管道机器人 变径机构 仿真分析
Abstract针对管道机器人过弯时驱动轮与管壁间的相对滑动问题以及机体对管径尺寸的适应问题,设计了采用单电机进行驱动并具有自主差动特性和自适应变径特性的管道机器人。分析了机体差动机构的传动特性,从理论上推导了管道机器人变径机构工作状态时的受力方程,得到了机器人运行时驱动轮与管壁之间的力学关系式。构建了机器人在管内的运动位姿模型,并研究了机器人在不同位姿条件下的模型中各个变量之间的对应关系。分别建立了管道机器人在弯管和变径管中运行的虚拟样机模型,最后通过仿真实验对管道机器人的自主差动特性和自适应变径特性进行了验证。研究结果表明,管道机器人可以无干涉地通过弯管,在变径管中运行时也能有效地实现自主变径,并展现出了...
Other AbstractAiming at the problems of relative sliding between the robot’s driving wheel and the tube wall and the adaptation of the robot’s body to the pipe diameter,the pipe robot with the characters of autonomous differential motion and adaptive variable diameter was designed by adopting the single motor to drive. The transmission characteristics of the differential mechanism were analyzed,the force equation of working state for the variable diameter mechanism of pipe robot was theoretically deduced,and the mechanical relation between the driving wheels and pipe wall in robot's operation was obtained. The movement pose model of robot in pipe was built,and the relationship between each variable in the model under the condition of different pose was studied. The virtual sample models of robot operating in the bend pipe and variable diameter pipe were built respectively. Through the simulation analysis,robot's characters of autonomous differential motion and adaptive variable diameter were validated. The results indicate that the pipeline robot can pass through bends without interference,in reducing tube can also effectively realize the independent variable diameter,and show a good driving characteristics.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18644
Collection机器人学研究室
Corresponding Author王挺
Affiliation1.沈阳理工大学机械工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
3.辽宁省电力有限公司鞍山供电公司
Recommended Citation
GB/T 7714
王辰忠,王挺,刘君,等. 差动式自适应管道机器人的设计与运动分析研究[J]. 机电工程,2016,33(4):395-400.
APA 王辰忠,王挺,刘君,张朝龙,&胡绍刚.(2016).差动式自适应管道机器人的设计与运动分析研究.机电工程,33(4),395-400.
MLA 王辰忠,et al."差动式自适应管道机器人的设计与运动分析研究".机电工程 33.4(2016):395-400.
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