柔性蠕动管道机器人的力学特性分析

Force Analysis of a Flexible Squirm Pipe Robot

为提高对管道复杂环境的适应性,实现机器人平稳、可靠行走,对柔性蠕动管道机器人进行了结构优化设计和力学特性分析.该机器人由前机体、导向头、后机体、柔性弹簧轴和行走轮组成,在管道中可实现蠕动行走,并能在一定范围内自主适应管道内径和形状的变化.通过机器人运动特性分析,对机器人在管道内行走时的支撑力、行走牵引力及通过弯管时的受力进行了分析,并分别建立了数学模型.根据机器人驱动力和阻力的分析结果,推导了机器人蠕动行走的条件.搭建了实验测试平台,对机器人进行实验的结果证明了设计和分析的有效性.

To improve the adaptability in the complex pipe environment pipe robot is optimally designed and the force the pipe acts on the robot of flexible axl, front/back body, guiding head and supporting wheels. the pipe robot in straight and L-type pipe, a mechanical model of the p ing condition of the pipe robot is also inferred. A new experiment syste the designt , the structure of a flexible squirm is analyzed. The robot is made up Analyzing the motion character of ipe robot is established. The mov- m is set up to verify the validity ofthe design.