摘要
三通是管道机器人经常遇到的典型障碍之一,克服该障碍的能力用管道机器人在三通处通过性来描述.文中提出一种描述差压驱动式管道机器人三通通过性的数学模型,该模型由一组组合约束构成.通过对约束方程的分析讨论、与管道机器人弯道通过性的对比分析,得出了规律性的结论.管道机器人在三通处的姿态、单元体的几何尺寸、行走轮结构形式对其通过性都有不同程度的影响.所提出数学模型是管道机器人三通自主行走控制策略设计和相应结构设计的理论基础.
T-joint is one of the representative obstacles pipeline rohot often falls across. Traveling-eapahility in T-joint is described the ability to get over this kind of obstacle. A mathematical model to describe the traveling-capability of pipeline rohot in T-joint is presented, which is composed of a set of constraint equations. The equations are discussed, the analysis is compared with travellng-capability in elbow and the regular conclusions are driven. The pose, segment geometric and driving wheeLs structure when the pipeline rohot is in T-joint have different influence degree on traveling-capability in T-joint. The mathematical model is the academic groundwork of autonomous navigation strategy design and relevant structure design of pipeline rohot in T-joint.
出处
《后勤工程学院学报》
2005年第3期49-53,62,共6页
Journal of Logistical Engineering University
关键词
差压驱动
管道机器人
三通通过性
数学模型
三通导航设计
differential pressure driving
pipeline rohot
traveling-capability in T-joint
mathematical model
navigation design for T-joint
