新型微型管道机器人结构设计及其运动可行性分析  

Structure design and sports feasibility analysis for the new micro in-pipe robot

作　　者：朱永梅[1] 孙小艳[1] 张超[1] 

机构地区：[1]江苏科技大学机械工程学院,江苏镇江212003

出　　处：《江苏科技大学学报（自然科学版）》2013年第4期351-355,共5页Journal of Jiangsu University of Science and Technology:Natural Science Edition

摘　　要：针对现有微型管道机器人多为结构复杂,应用领域较窄等现状,力求以结构简单、设计方便的机构来实现复杂运动为设计主线,综合蠕动式管道机器人适应性强,张紧式机器人运行平稳等优点,以及目前逐步成熟的功重比高的微型电机技术,设计了一种新型的微型步进电机驱动的蠕动-张紧式微型管道机器人.并对管道机器人进行了运动学和动力学分析以及虚拟样机仿真,验证了其运动可行性.In view of the fact that most exisiting micro in-pipe robot have complex structure and narrow application field,by using simple-structure,and convienient-design insititution a in-pipe robot is designed ,which can bring compound movement .Taking advantage of the strong adapbility of the peristalsis in-pipe robot ,the smooth opera-tion of the tensioner type robot and high power ratio miniature motor technology ,the peristalsis-tension-type micro in-pipe robot is designed which is driven by miniature stepping motor .To prove its movement feasibility , the ki-nematics analysis , dynamics analysis and virtual prototype simulation are carried out for the robot .

关 键 词：微型管道机器人 凸轮结构设计 运动学分析 动力学分析 

分 类 号：TB114.3[理学—概率论与数理统计] O213.2[理学—数学]