可折展管道蠕动并联机构设计与运动仿真

Design and Motion Simulation of Wriggling Parallel Mechanism for Collapsible Pipeline

为探索管道蠕动机构及其移动方式,设计一种具有折展能力的3-URU管道蠕动并联机构。该机构支链运动副R与U的空间位置关系能等效成Sarrus结构,可实现并联机构的折展,对折展原理和折展干涉进行分析,求得该机构折展比,并通过仿真验证其折展效果。应用螺旋理论计算该机构自由度,求解位置正解方程,并通过蒙特卡洛法求得该机构的工作空间。在管道内对机构进行蠕动步态规划,并利用ADAMS软件进行管道内的蠕动步态验证,得到两平台位移曲线和支链转角变化曲线。研究表明,该并联机构可实现管道内的蠕动,且折叠后体积较小。

In order to explore a new pipeline peristaltic mechanism and its moving mode,a new 3 URU pipeline peristaltic parallel mechanism with folding ability was proposed.Due to the spatial position relationship between the R and U of the branch motion of the mechanism can be equivalent to the Sarrus structure,the parallel mechanism can be folded,and its folding principle and folding interference were analyzed to obtain the folding ratio and verify its folding effect through simulation.The degree of freedom of the mechanism was calculated by using the screw theory,solving the positive solution of the position and through Monte Carlo method to get the working space of the agency.According to the position analysis,the creeping gait planning of the mechanism in the pipeline was carried out and the creeping gait in the pipeline was verified by the ADAMS software,the displacement curve of the two platforms and the curve of the branch chain rotation angle were obtained.It was comprehensively analyzed that the mechanism can carry out the peristaltic movement in the pipeline after expansion and had a small volume after folding,which provided a certain theoretical basis for the subsequent application of specific pipeline engineering.