管道探测蛇形机器人的行走结构研究

Research on walking structure of snake-shape robot for pipe detection

简述蛇形机器人的整体框架及单元结构设计,根据不同的管径改变相邻模块间的夹角以及模块的连接总数,以适应相应管径,使机器人可以贴附在管道内壁,之后在部分关节模块上添加驱动,以驱动机器人整体沿管道内壁以螺旋的方式前进。同时,运用ADAMS软件建立在不同的管径中机器人所需关节模块数量以及关节模块之间的夹角,并对机器人在管道中静止时的受力情况进行分析,得出机器人与管道之间的相互接触力,关节模块连接处的相互作用力以及相邻模块直接的作用转矩大小,通过仿真实现在管道内进行螺旋前进。

The overall framework and unit structure design of snake-shape robot are briefly described in this paper. The modular design is adopted for the snake-shape robot to change the angle between adjacent modules and the total number of connection of modules according to different pipe diameters to adapt itself to the corresponding pipe diameter,so that the robot can attach to the inner wall of the pipe and then add the drive to the part of the joint module to drive the whole body of the robot and move along the inner wall of the pipe in a spiral way. The existing snake-shape robot joint module was improved according to the application conditions in the inner wall of the pipe. The ADAMS software is used to establish the joint modules and the angle between the joint modules in different pipe diameters. The force situation of the robot in the pipe is analyzed. The contact force between the robot and the pipe,the interaction force of the joint module and the direct torque size of the adjacent modules are obtained. The spiral walking of the robot in a pipe was realized by simulation.