关节履带式管道检测机器人越障性能优化  

The Performance Optimization of the Articulated-Tracked Pipe-Inspected Robot for Obstacle Negotiation

作　　者：陈宗尧[1] 颜国正[1] 王坤东[1] 赵忠华[1] 

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240

出　　处：《上海交通大学学报》2011年第7期1017-1020,共4页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(60875061;30800235);上海市科委项目(09DZ1907400)

摘　　要：针对一种特殊管道内部检测,设计了一种小体积紧凑型的关节履带式机器人.根据本机器人结构设计,建立了描述机器人姿态的各参数与越障性能之间的数学关系式.探讨了该机器人在越障过程中的姿态调整对越障能力的影响.在此基础上采用最优化方法求解了该机器人的最大越障高度,并确定了适合的姿态调整方法.Matlab仿真及实验验证了该设计和优化计算对于提高机器人越障性能的有效性.Aiming at the special requirement of pipe-inspection,this paper presented the design of a compact articulated-tracked robot.Based on the structure design of the robot,several mathematical models describing the relationship between the posture and the capacity of the robot＇s obstacle negotiation were established.And the effect of posture regulation on the performance of the robot＇s obstacle negotiation was also investigated.Using an optimization technology,this paper gave the calculation results for the max-imum step height and the adaptive moving posture during the process of obstacle-negotiation.The Matlab simulation of the model and the experiment verify the improvement of the robot performance by the design and optimization presented in this paper.

关 键 词：管道检测 关节履带式 越障性能 最优化方法 姿态调整 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]