六轮支撑式弯管机器人运动轨迹研究

Trajectory Research on Six-wheeled Robot

针对管道机器人特性,以六轮支撑式弯管机器人在弯管内的数学模型为基础,使用Solid Works软件构建了弯管机器人模型,在Motion运动仿真环境中分析了弯管通过性,绘制了弯管内的运动轨迹曲线。仿真分析结果表明,只要满足几何约束条件和运动约束条件,六轮支撑式弯管机器人就能够顺利通过弯管,结论验证了该设计的合理性,为管道机器人的应用研究提供了数据支持。

The mathematical model of six-wheeled pipe robot is designed based on the characteristics of bent pipe. The Sol- id-Works software is used to construct the mechanism model, the performance analysis of the bent pipe is carried out, and the trajectory curve of the robot is drawn in this paper. The results of simulation analysis show that the six-wheeled pipe robot can smoothly pass the bent pipe in the case of satisfying the constraint condition. It provides data support for the application of pipeline robot.