管内轮式移动机器人弯道内驱动控制方法

Drive and Control Method for Wheel Type in-pipe Robot to pass through an Elbow Pipe

三轮全主动驱动管道机器人的弯道通过性一直是个难题 ,由于三轮差动机构尚未实现 ,机器人的 3个主动驱动轮在弯管内将出现干涉而不能行走。为了使机器人可靠、平稳、快速地通过弯管 ,基于机器人在转弯过程中的阻力负载特性分析的基础上 ,提出了驱动轮独立协调控制转弯的方案 ,并对速度协调控制过程进行了仿真实验 。

Usually, an in-pipe mobile robot with three drive wheels encounters a difficult problem when it is passing through a pipe elbow, whose three drive wheels interfere one another, since three wheels differential mechanism has not come into being so far, as a result,the robot can not move inside elbow. In order to guarantee the robot to pass through the elbow in a stable, reliable and rapid way, a principle that is an independent harmonious control method for three drive motors is put forward based on the analysis of resistance load characteristics of the drive wheels. Finally, simulation experiments are conducted according to the above control method, the results show this method is an effective way to solve three wheel differential problem.