摘要
为解决轮式管道机器人弯管运行的干涉问题,研制一种具有差动运行功能的轮式管道机器人——三轴差动式管道机器人.首先介绍了机器人的结构组成和基本原理,对机器人的牵引力、越障能力等驱动特性进行分析,建立相应的理论分析模型.同时,建立机器人的虚拟样机仿真模型,对其牵引力、越障能力进行仿真研究,仿真结果与理论分析基本一致.机器人在弯管运行的仿真结果表明:机器人能够顺利通过弯管,三轴差动机构具有较好的差动效果.
In order to solve the interference problem of a wheel-type pipeline robot when moving in an elbow, a wheel-type pipeline robot known as a tri-axial differential pipeline robot with the function of differential movement was developed. The structure composition and the basic principle of the robot were introduced. Then the driving properties of the robot, such as traction force and the ability to span obstacles, were analyzed and the corresponding theoretical model was established. The virtual simulation model of the robot for the traction force and its ability to span obstacle were researched, and the simulation results were consistent with the theoretical analysis. The results of the robot moving in an elbow indicate that the robot can cross the elbow successfully, and the tri-axial differential mechanism possesses favorable differential functions.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2012年第6期753-758,共6页
Journal of Harbin Engineering University
基金
国家863计划基金资助项目(2006AA04Z236)
机器人技术与系统国家重点试验室自主研究课题基金资助项目(SKLRS200802C)
高等学校学科创新引智计划基金资助项目(B07018)
关键词
管道机器人
三轴差动
驱动特性
仿真研究
pipeline robot
tri-axial differential
driving property
simulation analysis
