微小管道机器人机构设计及动力学分析

Mechanism Design and Dynamic Analysis on Micro-pipe Robot

设计了一种蠕动式微小管道机器人，采用三组直流电机与螺旋传动装置，通过控制三组电机顺序协调动作，实现了机器人的蠕动前进。研究了机器人在竖直管道中驱动负载的情况，以及爪子适应管径变化的力学调节特征。利用ADAMS动力学分析软件，对机构做了运动学和动力学仿真，通过仿真得到了牵引力和移动速度与结构参数之间的关系。仿真表明，机器人可以适应（Ф15～20mm的管道，驱动力达到28N，移动速度为6mm／s。

A creeping micro-pipe robot is designed, which comprises three DC motors and screw-driven units. The three motors are coordinated to realize the creeping motion. Firstly, the load is analyzed for the case that the robot creeps in a vertical pipe. Meanwhile, the mechanical adjustment characteristic for the claws to adapt to the varying pipe size is also discussed. Then with the help of ADAMS software, kinematical and dynamical simulations are presented, which shows the relationship between the driving force, the moving velocity and structural parameters of the robot. Simulations also demonstrate that the robot is applicable to pipes with diameter ranging from 15 to 20mm. The driving force reaches up to 28N and the moving velocity 6mm/s.