管道机器人的转向稳定性研究

Research on Steering Stability of Pipeline Robots

管道机器人通常以单自由度轮式机器人(以下简称机器人)为载体在管道内部工作。本文根据机器人在管道内轴向运动的特点,建立了右手坐标系,并通过对机器人车轮的动力学分析及力矩平衡分析,应用牛顿定理、达朗贝尔-拉格朗日原理、拉格朗日方程等求解了管道机器人的转向动力学方程,深入研究了管道机器人的转向稳定性难题。

The pipeline robots usually work inside the pipelines using single degree of freedom wheeled robots(hereinafter referred to as robots)as carriers.This paper establishes a right-handed coordinate system based on the characteristics of axial motion of robots in pipelines.Through dynamic analysis and torque balance analysis of robot wheels,the steering dynamics equation of pipeline robots is solved using Newton's theorem,D'Alembert Lagrange principle,Lagrange equation,etc.,and the steering stability problem of the pipeline robots is deeply studied.