新型微小管道机器人驱动特性分析

Analysis on Driving Characteristics of a Novel Micro Inpipe Robot

研制了一种具有“大驱动、快速、长距离运动”综合性能的新型微小管道机器人。机器人采用电机驱动蠕动式爬行方案，主要包括自调节支撑机构、柔性保持机构、软轴驱动机构、卸载机构等，适用于直径为15～20mm的微细管道。在介绍了工作原理及机构组成的基础上，对各机构的力学特性进行了分析。虚拟仿真和样机试验表明，机器人能顺利通过曲率半径不小于80mm的弯管，移动速度为8～10mm/s，具有0-90°爬坡能力，可双向移动，其负载能力不小于10N，载重自重比可达6．67：1。

A novel micro in-pipe robot, which possesses the advantages of big driving force, fast and long-distance moving ability, is developed. The robot creeps bidirectionally and is driven by motors. It consists of self regulating mechanism, flexible holding mechanism, flexible shaft driving mechanism and unloading mechanism, which can adapt itself to micro pipelines with diameters ranging from 15 to 20mm. Based on the robot＇s operating principle and mechanism structure, dynamic characteristics of each mechanism are analyzed. The virtual simulation and prototype experiment results demonstrate that the robot can pass the elbows whose radius of curvature is not less than 80mm, move bidirectionally with a speed of 8-10mm/s, climb the oblique pipes angled 0-90°, and carry a load of at least 10N while the ratio of load to deadload is up to 6.67：1.