管外行走机器人的结构设计与运动分析

发布时间：2018-04-30 20:57

本文选题：管外行走机器人 + 优化设计　；参考：《山东科技大学》2017年硕士论文

【摘要】：管外爬行机器人是一种被应用在高空管道中来代替人工作业的机器人,能够大大降低了人工检测的风险和成本,具有重要的学术研究价值和工业应用前景。本论文对国内外现有的管外爬行机器人技术发展现状以及应用背景进行了调研分析,提出了一种新型管外行走机器人的设计方案,该机器人是一种可在管道外表面前行和后行,具备跨越L型、十字型等特殊管道,能够绕管道旋转运动的机器人。该机器人最大的优势,就是拥有其他机器人无法比拟的灵活性和可变形性,可以利用传统爬行方式,发挥其多自由度、可变形的特点,快速爬行越障等,具有较大的实用价值和理论研究。通过研究管外行走机器人抱紧机构的结构,对其进行参数化建模与最优化设计,建立了以抱紧机构结构最紧凑,输出夹紧力最大的多目标数学模型,保证抱紧机构的各支点间相隔均匀,并且要求传动效率高,不发生运动干涉,可以完成夹紧或松开工作管道,最终确定了机器人抱紧机构的最优尺寸;针对抱紧机构、翻转关节连接部位各个零件进行三维建模,最后进行了组合装配,得到了管外行走机器人整体结构的三维造型;在跨越爬行和绕管道旋转能力上做了理论推导,并重点介绍了管外行走机器人在跨越L型、十字型管道等的动作姿态规划等;利用ADAMS动力学软件对管外行走机器人跨越爬行L型管道和绕管道旋转运动进行了定性爬行仿真分析,验证了理论分析爬行跨越的可行性,为后续的控制过程提供指导和理论支持,解决了难以试验的限制:基于ANSYS Workbench对管外行走机器人的行走滚轮支架进行有限元分析,对行走滚轮支架在静态预紧力作用下的应力应变和变形位移量进行求解,并对行走滚轮支架进行有限元模态分析,为机械结构安全稳定提供了依据。
[Abstract]:Outer crawling robot is a kind of robot which is used in high altitude pipeline instead of manual work. It can greatly reduce the risk and cost of manual detection. It has important academic research value and industrial application prospect. In this paper, the present situation and application background of the existing pipeline crawling robot at home and abroad are investigated and analyzed, and a new design scheme of the outside tube walking robot is put forward. The robot is a kind of robot which can move forward and back on the outer surface of the pipe. It has a special pipeline, such as L-type, cross-type, and can rotate around the pipe robot. The greatest advantage of the robot is that it has the flexibility and deformability that other robots can not compare. It can make use of the traditional crawling mode, give play to its multi-freedom, deformable characteristics, and climb quickly and surmount obstacles, etc. It has great practical value and theoretical research. By studying the structure of the clamping mechanism of the robot walking outside the tube, the parameterized modeling and optimization design are carried out, and a multi-objective mathematical model with the most compact structure and the largest output clamping force of the clamping mechanism is established. Ensure that the fulcrum of the clamping mechanism is evenly separated, and requires high transmission efficiency and no movement interference, so that the clamping or loosening of the working pipe can be completed, and the optimal size of the robot clamping mechanism is finally determined. Finally, the 3D modeling of the whole structure of the robot walking outside the tube is obtained, and the theoretical derivation of the ability to cross and crawl and rotate around the pipe is made. The action posture planning of the robot crossing L type and cross type pipeline is introduced in detail. By using ADAMS dynamics software, the qualitative crawling simulation analysis of straddling L-type pipeline and rotating motion around pipeline is carried out, which verifies the feasibility of theoretical analysis of crawling span. It provides guidance and theoretical support for the subsequent control process, and solves the limitation that is difficult to test. Based on ANSYS Workbench, the finite element analysis of the walking wheel support of the off-tube walking robot is carried out. The stress strain and deformation displacement of walking roller bracket under static pretension force are solved and the finite element modal analysis of walking roller support is carried out which provides the basis for the safety and stability of mechanical structure.
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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