基于虚拟原型的管径激光检测机器人运动仿真  

Motion Simulation of Pipeline Diameter Laser Inspection Robot based on Virtual Prototype Technology

作　　者：曹建树[1] 李魁龙[2] 李瑞庆[1] 张义[1] 徐宝东[1] 

机构地区：[1]北京石油化工学院机械工程学院,北京102617 [2]中国石油大学(北京)机械与储运工程学院,北京102249

出　　处：《新技术新工艺》2014年第1期30-33,共4页New Technology & New Process

摘　　要：为直观分析天然气管道内径激光检测机器人在管道中的运动工况,基于CAD软件绘制了机器人三维模型,并对其进行了受力分析;运用LabVIEW编写了控制程序,并设计了简单、直观的人机交互界面;应用NI公司的运动模拟软件,建立了三维模型与控制程序的连接,通过设定运动参数和运行控制程序,实现了机器人虚拟模型模拟物理原型的运动仿真。使用虚拟原型技术,改进和优化了设计结构,缩短了研发周期,减少了加工成本,在项目前期工作中具有重要意义。To intuitively analyze the motion of the gas pipeline inner inspection robot based on laser, three-dimensional model of robot was built with CAD software, and it mechanics analysis was performed. Control program and man machine interface were created and established by LabVIEW. The connect between its three-dimensional model and control program was constructed with motion simulation software of NI company. The motion simulation of virtual model imitating physical prototype was achieved by setting parameters and implementing control program. Using virtual prototype technology, de- sign limitation and structure were improved and optimized with shortening development period and decreasing manufacture costs, which has a significant meaning in the previous of project.

关 键 词：管道 机器人 虚拟原型 运动仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]