管道并联机器人行走机理研究

Research on walking principle of pipe parallel robot

针对油田生产特殊工艺井测井的特殊要求,对其送进技术的局限性进行了研究,提出了一种基于并联机构的新型管道机器人,取代以往的送进技术。利用坐标变换的方法建立了该机器人的运动模型,并进行了机器人在直管和弯道中的行走机理分析。同时,对该管道机器人进行了虚拟样机仿真分析。通过虚拟样机在直管和弯道中的行走仿真,验证了理论分析的结论是正确的。该机器人具有较大的拖动力。

Aim at the special requirement of special well logging, limitations to its carrying technology were studied, and a new type pipe robot based on parallel mechanism was put forward to replace the past carrying technology. The kinematical model for this kind of robot was set up by using the method of coordinate transformation in this paper, and the analysis on the walking principle for the robot to walk in both straight and bend pipes was performed. The virtual prototype simulation analysis of this kind of pipe robot was also made. Through the walking simulation of the robot in straight and bend pipes, the conclusion of the theoretical analysis is proved to be correct. The robot can have bigger traction force.