三轴差速式管道机器人越障能力分析

Crossing ability analysis of triaxial differential pipeline robot

为提高三轴差速式管道机器人在恶劣管道工作环境中的生存能力,提出了一种提高且能计算出管道机器人越障能力的方法。根据轮式管道机器人通过性的具体要求,依据三轴差速理论,建立了越障条件下的管道机器人力学模型,并得到了其约束条件,通过采用全局寻优算法得出了其主要参数最优解,进而得到了管道机器人所能克服的台阶最大高度数值,即越障能力;通过力学分析,得出了三组支撑杆组越障能力相同,即其越障能力具有同一性和对称性。研究结果表明,该方法验证了三轴差速理论的正确性,通过该方法优化后的管道机器人结构参数为以后管道机器人的设计提供了有效的技术数据。

In order to improve the viability of three-axis differential wheeled pipeline robot in the harsh pipeline environment, a method applied to raise and calculate pipe robot crossing ability was supplied. According to wheel pipe robot specific requirements, a robot mechanical model and its constraints were established under a crossing situation based on three-axis differential theory. A global optimization algorithm was taken to draw the main parameters of the optimal solution, and to get maximum height value of pipeline robot to be able to overcome the steps that crossing ability. It was gotten that the crossing ability of three supporting groups has identity and symmetry through mechanical analysis.The results indicate that the method verifies the correctness of the triaxial differential, the robot structure parameters of the optimized pipeline via the method provide an effective technical parameters for the future pipeline robot design.