摘要
皮碗式机器人在输气管道内运行需要克服与管壁间摩擦力的影响,研究摩擦力与皮碗结构的关系,从而控制机器人运动速度是当前输气管道检测的重要课题。文章建立了皮碗式无源管道机器人受力模型,根据力的叠加原理把皮碗与管壁间的压紧力分解成圆筒壁挤压力和悬臂梁的弯曲力,推导得出皮碗所受压紧力与皮碗各部分结构间的关系式。通过实例计算得出压紧力与皮碗厚度等的关系曲线,从而为机器人在输气管道内运行的速度控制提供了理论依据。
Cup-type pipe robot running inside the gas pipeline needs to overcome the effects of friction with the pipe wall, Research on the relationship between friction and the rubber cup. To control the robot speed and position is an important issue of the detection of gas pipeline. This paper establishes passive force model of Cup-type pipe robot. According to the superposition principle of force, break Clamping force between rubber cup and pipe wall into the cylinder wall extrusion pressure and the cantilever bending force, obtained the relationship be- tween clamping force and parts of rubber cup. By an example ealcula- tion, obtained the curve of rubber cup and clamping force, provide a theoretical basis for the control of robot running in the gas pipeline.
出处
《现代制造技术与装备》
2010年第1期30-32,共3页
Modern Manufacturing Technology and Equipment
关键词
机器人
受力模型
皮碗
悬臂梁
Robot, Passive Force Model, Rubber Cup, Cantilever Beam
