摘要
为了解决机器人在管道内姿态调节困难、避障能力较弱等问题,文章提出一种通过改变驱动轮转向来快速调节在管道内姿态的轮式管道机器人。该机器人可沿着管道作直线运动,也能绕管道中心轴线沿内壁作螺旋运动和回转运动,同时具有避障能力。通过建立机器人驱动轮转向过程的位姿模型,分析了弹簧以及管道内壁对机器人的正压力的变化过程;建立管道机器人驱动轮转向时的运动学模型,并进行了仿真分析。仿真结果表明了该管道机器人的有效性和实用性。
In order to solve the difficulties in posture adjustment and obstacle avoidance of a robot working in pipes,a wheeled in-pipe robot that can quickly adjust its posture by changing the steering of the driving wheels is proposed.The robot can move along the pipe linearly or around the pipe＇s axis helically with returning and obstacle avoidance capabilities at the same time.The changing pressure of the pipe＇s inner wall against the robot is analyzed through establishing the pose model of the robot when steering its driving wheels.A kinematic model of the driving wheels steering is also established and corresponding simulations are conducted.The simulation results demonstrate the effectiveness and practicality of the presented in-pipe robot.
作者
陈还
翟华
陈梁玉
赵坤民
CHEN Huan;ZHAI Hua;CHEN Liangyu;ZHAO Kunmin(Institute of Industrial and Equipment Technology,Hefei University of Technology,Hefei 230009,Chin)
出处
《合肥工业大学学报（自然科学版）》
CAS
北大核心
2018年第6期744-747,811,共5页
Journal of Hefei University of Technology：Natural Science
关键词
管道机器人
姿态调节
避障
位姿模型
仿真
in- pipe robot
posture adjustment
obstacle avoidance
pose model
simulation
