主动避障式管道机器人结构设计及动力学仿真

为了解决轮式管道机器人在管道内越障能力不足的问题,设计一种主动避障管道机器人,并运用ADAMS进行动力学仿真分析。首先分析了管道机器人结构原理和运动特性。随后运用ADAMS建立虚拟样机,对管道机器人的避障能力、直行能力以及过弯能力进行仿真分析。仿真结果表明,该管道机器人可自动适应148～152 mm管径;可通过的最小转弯半径为304 mm;可实现在管道内部主动避障,同时具有良好的动力特性。

Design and Dynamic Simulation of an Actively Obstacle-Avoiding Pipeline Robot

In order to solve the problem that the wheeled pipeline robot has insufficient ability to overcome obstacles in the pipeline, an active obstacle avoidance pipeline robot is designed, and dynamic simulation analysis is carried out by ADAMS. Firstly, the structure principle and motion characteristics of the pipeline robot are analyzed. Then, ADAMS is used to build a virtual prototype to simulate the obstacle avoidance ability, straight travel ability and bending ability of the pipeline robot. The simulation results show that the pipeline robot can automatically adapt to the diameter of 148-152 mm; the minimum turning radius can be 304 mm; it can realize the active obstacle avoidance in the pipeline and has good dynamic characteristics.