基于ADAMS的微型管道机器人三维实体运动仿真  

3D Solid Kinematics Simulation of Micro In-pipe Robot Based on ADAMS

作　　者：赵玉侠[1] 狄杰建[1] 高德文[1] 

机构地区：[1]北方工业大学机电学院,北京100144

出　　处：《实验室研究与探索》2011年第1期26-29,共4页Research and Exploration In Laboratory

摘　　要：在ADAMS环境下,建立了小口径六轮机器人运动模型,创建了相应的仿真环境,并进行了三维实体运动仿真。通过对质心处的位移、速度、加速度曲线以及对弹簧的力和驱动力矩曲线的分析,证明该六轮机器人在直管道内的移动具有基本的运动稳定性和可行性。为了解机器人工作空间的形态和大小提供了一种实验手段。以管道内受限微型机器人的运动学模型为例进行了运动学分析。结果表明,该行走机构具有结构紧凑、驱动效率高、安装方便、工作可靠、成本低廉等特点。The kinematics model of six-wheeled robot inside pipes with small diameter and the corresponding simulation enviroment were established based on ADAMS software.Besides,the 3D solid motive simulation was carried on.By the analysis of the displacement,velocity and acceleration curve at center of mass,and the analysis of the force andmovement curve,it proves that the movement of six-wheeled robot ina straight pipe has basic stabilization and feasibility,which provides a useful experimental method to study the shape and size of robot workspace.The kinematics analysis was carried out for the model of in-piperobot.The results show that the mobile robot mechanism has many advantages,such as compact structure,high efficiency,installation convenience,high reliability and low cost.

关 键 词：微型管道机器人 ADAMS 运动学 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]