主动变径管道机器人结构设计及其ADAMS仿真研究

Research on Structure Design and ADAMS Simulation of Active Variable Diameter Pipeline Robot

针对目前管道机器人适应管径能力单一等问题,提出了一种能主动适应管径变化的管道机器人,采用SolidWorks软件建立其虚拟样机模型,分析了其变径能力及过弯能力,然后将模型导入ADAMS中,根据实际条件添加约束,对其进行管道爬行运动学及动力学仿真分析。结果表明:机器人能适应管径110~130 mm范围变化的管道,最小转弯半径为175 mm。在水平管道行走时变径模块受到的压力小于13 N,在竖直管道行走时变径模块受到的压力小于2.6 N。该研究结果为后续制作物理样机及实验研究提供了参考。

Aiming at the pipeline robot with complicated mechanical structure and a single diameter adaptation problem, a pipeline robot adapted to variable diameter actively is proposed. A virtual prototype model of the wheel type pipeline robot with SolidWorks software was built. In addition, analysis of the performance of changing diameter and cornering was provided. Then the model was imported into ADAMS and according to the actual conditions, adding constraints, analysis of pipeline crawling kinematic and dynamic simulation were carried out. The results show that the robot can be adapted to the diameter of 110~130 mm range, that the minimum turning radius is 140 mm. The changing diameter models in horizontal pipe are less than 13 N in pressure, and those in vertical pipeline are less than 2.6 N in pressure. The results of this study have provided references for the future production of physical prototype and experimental research.