新型蠕动式微型管道机器人的牵引力及爬坡能力研究  

Traction Force and Climbing Capacity of a Novel Creeping Micro In-pipe Robot

作　　者：徐从启[1] 解旭辉[1] 戴一帆[1] 李圣怡[1] 

机构地区：[1]国防科技大学机电工程与自动化学院机电系,长沙410073

出　　处：《机械科学与技术》2009年第7期971-975,980,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：部委预研项目(51318020310)资助

摘　　要：牵引力是管道机器人的一个重要指标,牵引力的大小直接影响到机器人的运动速度以及带载能力等。介绍了一种新型蠕动式微小管道机器人的系统结构及工作原理,并对机器人在直管内爬行时的牵引力作了详细分析。分析了机器人在倾斜管道内的爬坡能力,然后利用ADAMS软件进行虚拟样机的仿真,最后利用研制样机进行了试验测试。Traction force is an important performance for in-pipe robot and it influences the velocity and load ability of the robot directly. First, a novel creeping micro in-pipe robot is presented in this paper, the system organization and operating principle are introduced, the traction force is analyzed when the robot creeps in a horizontal pipe and the formula for computing traction force is obtained. Then, climbing capacity is analyzed in the case of the robot creeping incline pipe. Finally, virtual prototype is simulated by ADAMS software and experiment testing is done using the developed robot. The results prove the correctness of the derivation and analysis.

关 键 词：管道机器人 牵引力 爬坡能力 虚拟样机 ADAMS 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]