地下牵引机器人行进效率分析

Locomotion Efficiency Analysis of Subsurface Tract Robots

地下牵引机器人在行进过程中需不断与地层接触,若接触点的地层有较大的切向变形,将影响机器人的行进效率,进而影响整体作业进度。为探索该问题,将机器人视为多体节结构,假设其行进过程中始终受阻力作用。通过分析接触面的切向变形发现:地层越容易发生切向变形、牵引力越大时,机器人行进效率越低,甚至可能停止行进;体节的数量越多时,机器人行进效率越高;体节越多的机器人所能提供的牵引力也越大。该结果对牵引机器人的结构设计和运动分析具有指导作用。

Subsurface tract robots are fit for purpose devices used for laying cables and pipe strings.The robot inevitably contacts the wall of the borehole while moving through into the for-mation.If the formation allows tangential deformation,it will affect the locomotion efficiency of the robot,therefore exert an influence on the total operational procedure.In order to figure out how the efficiency is affected by the deformation,the tract robot was assumed to has a simplified multi-section structure,subjecting to constant resistances during moving forward.Analysis on the model reveals that the locomotion efficiency is lower or even close to zero under a more tangential flexible formation or higher tract tension.Meanwhile,the more sections the robot has the higher efficiency it is.In addition,a robot with more sections could endure more tract tension was also il-lustrated.The results are anticipated to be useful for analysis and designing of subsurface tract robots.