基于全向轮的排管电缆巡检机器人建模及仿真

Modeling and Simulation of Pipeline Cable Inspection Robot Based on Omnidirectional Wheel

针对地下排管电缆内部空间狭小密闭,人工无法巡检,现有管道机器人无法适应排管电缆这一特殊环境的问题,设计了一款小型化、紧凑型且能够在已敷设电缆的地下排管内实现运行的排管电缆巡检机器人,用以对排管内壁及电缆工况进行检测。根据工况需求,建立机器人整体三维模型。分析全向轮速度与系统速度的映射关系,分析机器人在排管内部的变径支撑能力和牵引力大小,建立数学模型。仿真结果表明:该机器人能够在敷设电缆型号为YJLV22-3×300的地下排管内直行通过,且能进行姿态调整,避过障碍物继续直行,完成巡检任务。仿真结果与理论计算基本一致,验证了动力学模型的正确性。

Aiming at the problem that the inner space of underground pipeline cable is narrow and closed,which cannot be inspected by humans,and the existing pipeline robot cannot adapt to the special environment of pipeline cable,a miniaturized,compact pipeline cable inspection robot is designed.This robot is capable of operating within the underground pipeline where cables have already been laid to inspect the inner wall of the pipeline and the working condition of the cables.According to the requirements of the working conditions,the whole three-dimensional model of the robot has been established.The mapping relationship between the omnidirectional wheel velocity and the system velocity has been analyzed,as well as the variable diameter support capacity and tractive force of the robot inside the pipeline,and the mathematical model has been established.The simulation results show that the robot can directly pass through the underground pipeline laying YJLV22-3300 cable,and can adjust its posture to avoid obstacles and continue to complete the inspection task.The simulation results are basically consistent with the theoretical calculations,verifying the correctness of the dynamic model.