新型管道机器人运动学和力学特性分析

发布时间：2018-01-17 00:18

本文关键词：新型管道机器人运动学和力学特性分析　出处：《沈阳建筑大学学报(自然科学版)》2017年02期 　论文类型：期刊论文

【摘要】：目的研究新型步进式管道机器人运动学和力学性能,揭示管道机器人的运动规律,验证其运动状态和工作特性.方法采用理论建模和基于ADAMS软件仿真分析的方法,获得管道机器人相关机构的运动规律曲线以及机器人在管道内步进运动时活塞驱动力变化规律曲线.结果机器人能够适应管道直径范围为750~1 021.5 mm,步距为103 mm,速度和加速度曲线平滑,运行稳定,无震颤现象;当承受负载4 000 N时,伸缩夹紧机构驱动力变化范围为1 407.6~18 113.7 N,步进单元驱动力范围为1 978.46~7 645.38 N,驱动力曲线平滑,无力冲击,可驱动性能良好.结论该新型管道机器人的运动性能满足功能要求,具有适应管径范围大、速度快、运动平稳和驱动性能好等优点.
[Abstract]:Objective to study the kinematics and mechanical properties of a new type of walking pipeline robot, and to reveal the motion law of the pipeline robot. Methods the method of theoretical modeling and simulation analysis based on ADAMS software is used to verify its motion state and working characteristics. The kinematic curve of the related mechanism of the pipeline robot and the law curve of the piston driving force change when the robot moves in the pipeline are obtained. The result shows that the robot can adapt to the diameter range of the pipeline in the range of 750 ~ (-1). 021.5 mm. The step distance is 103mm, the velocity and acceleration curves are smooth, the running is stable, and there is no tremor. When the load is 4 000 N, the driving force range of the telescopic clamping mechanism is 1 407.6N 18 113.7 N. The driving force range of step unit is 1 978.46 / 7 645.38 N.The driving force curve is smooth and powerless impact. Conclusion the kinematic performance of the new pipeline robot can meet the requirements of function, and it has the advantages of large diameter range, fast speed, steady motion and good driving performance.
【作者单位】：沈阳建筑大学机械工程学院;
【基金】：国家自然科学基金项目(51575365) 辽宁省自然科学基金项目(201602620)
【分类号】：TP242
【正文快照】： 管道机器人可用于管道检测、喷涂和疏通等,因其工作条件的特殊性,近年来国内外研究人员对此作了大量的研究.在常规研究中,大多都是用于检测特定管径类的管道机器人[1-6].王振中等[7]提出了一种轮式驱动的差动式管道机器人,主要针对过弯时驱动轮与管壁之间的相对滑动和机体对管

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