内外螺旋管道机器人的动力学建模和数值仿真  

Dynamics Modeling and Numerical Simulation of Inner and Outer Spiral In-pipe Robots

作　　者：梁亮[1] 胡冠昱[1] 朱宗铭[1] 唐勇[1] 陈柏[2] 许焰[1] 

机构地区：[1]长沙学院机电工程系,长沙410022 [2]南京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016

出　　处：《系统仿真学报》2013年第11期2546-2551,共6页Journal of System Simulation

基　　金：国家自然科学基金(51075209);湖南省"十二五"重点建设学科资助项目;湖南省教育厅优秀青年科学研究项目(13B141);湖南省自然科学基金(12JJ4038);长沙学院资助项目

摘　　要：提出一种体积微小的无损伤内外螺旋管道机器人,建立了机器人在液体管道中运行时的动力学方程,运用计算流体力学方法,数值仿真机器人系统的流体流场,分析了机器人动力学特性以及环境特征参数对机器人运行性能影响。结果表明:机器人运行时,管道壁所受高压区主要集中在机器人周围附近,且压力值不大;机器人外壳外表面压力以及外壳外表面液体速度均高于内轴内表面;随着液体密度、液体粘度和偏心距的增大,机器人轴向推进力增大,随着管道直径的增大,机器人轴向推进力减小;液体粘度、管道直径和偏心距对机器人运行性能影响较大,而液体密度对其运行性能影响较小。对比外螺旋圆柱体轴向力随螺旋圆柱机体长度变化的数值计算结果和实验结果验证数值计算方法的正确性。A kind of non-invasive inner and outer spiral micro in-pipe robot based on liquid environments was proposed. The dynamic equations of the liquid in pipelines were established while the robot was running, and then the fluid flow field was solved by the computational fluid dynamics method. The dynamic characteristic of the robot was analyzed. The influence of environmental characteristic parameters on robotic motion performance was obtained. The results show that the high pressure area of the pipeline wall is mainly concentrated on the place around the robot, and the pressure values are little; the pressure and the fluid velocity of the surface of the robotic outer shell are higher than that of the surface of the robotic inner shell. With the increase of liquid density, liquid viscosity and eccentricity, the robotic axial thrust force increases, while pipeline diameter is increased, the robotic axial thrust force decreases. Liquid viscosity, pipeline diameter and eccentricity have more great influence on the robotic motion performance than liquid density. By contrasting the numerical results and the experimental results between the outer spiral cylinder axial force and the cylindrical body length, the correctness of the numerical method is verified.

关 键 词：管道机器人 内外螺旋 数值仿真 计算流体力学 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]