微型管道柔性清障机器人运动学分析与仿真

Kinematics Analysis and Simulation of a Mini-Pipe Flexible Obstacle Clearing Robot

针对微小弯曲管道中障碍难以清除的问题,设计了适用于直径在(12~25)mm的微型管道柔性清障机器人,采用微型步进电机驱动与蠕动结构结合方式,实现机器人在微小管道中蠕动运动。在介绍管道机器人原理和结构基础上,对机器人进行了力学特性分析,其负载能力可达13.4N,并对前后柔性支撑结构进行了有限元分析,验证了柔性支撑结构的可靠性。以ADAMS对管道机器人进行虚拟样机建模和仿真,研究结果表明该机器人可通过内径为12mm的弯曲管道。

Due to the difficulty of removing obstacles in tiny curved pipes,this paper proposes a flexible obstacle removal robot suitable for micro-pipes with a diameter of(12~25)mm.The robot is designed with a combination of micro stepping motor drive and creeping structure.Based on the introduction of the principle and structure of the pipeline robot,we analyzed the mechanical characteristics of the robot,and its load capacity can reach 13.4N.The finite element analysis of the front and rear flexible support structures has verified the reliability of the flexible support structure.Using ADAMS to model and simulate the virtual prototype of the pipeline robot,the research shows that the robot can pass through a curved pipeline with an inner diameter of 12mm.