基于Pro/E的电缆隧道巡检机器人行走机构设计与仿真

Design and Simulation the Travelling Mechanism of Inspection Robot in Cable Tunnel based on Pro/E

针对城市地下隧道电缆不便于人工检测的问题,设计了一种具有较强适应能力的履带式电缆隧道巡检机器人,报告了目前城市地下电缆检测的现状。阐述了机器人的特点和工作过程,进行了传动机构运动学分析。利用Pro/E软件的设计功能,主要建立机器人行走机构的三维实体模型,装配并对行走机构的运动学特性进行仿真。获得了行走机构上一点的位置、角速度、角加速度曲线。

According to the problem that underground cable in tunnel is not convenient for manual check, a tracked inspection robot with excellent flexibility to probe the cable in tunnel is designed. Also, the current situation of urban underground cable is also reported. The characteristic as well as working process of the robot is explained and the kinematics of transmission mechanism is analyzed herein. Utilizing the design function of Pm/E software, a three - dimensional entity model of the robot traveling mechanism is established and the simulation of kinematical character- istics is operated on the model. The position, angular velocity and acceleration curves of a point are obtained, the ba- sis for further optimization design on the robot is provided.