自主变位履带足管道机器人行走机构研究

Study on the Mobile Mechanism of Pipe Robot with Four Automatic Position Changing Pedrails

基于复杂管道对管道机器人运动性能的研究需要,提出了一种新型的自主变位履带足管道机器人行走机构设计方案。对机器人行走机构组成、运动原理、运动特点进行了介绍。针对管道应用的特点分析了该机器人的适应能力。实验结果表明:该系统具有较强的管道适应能力,工作稳定可靠。

Aimed at the research on pipe robot kinematic performance in the complicated pipes, a locomotion design of the pipe robot with four Automatic Position Changing Pedrails was proposed. The robot＇s mechanical construction, movement theory, motion process would be explained. The ability of adaptability is also discussed on the character of pipe application. Field experiment indicates that this system is in a highly adaptability and can work stably.