差动式自适应管道机器人的设计与运动分析研究  

Design and motion analysis of differential-drive adaptive in-pipe robot

作　　者：王辰忠 王挺[1,2] 刘君[3] 张朝龙[3] 胡绍刚[3] 

机构地区：[1]沈阳理工大学机械工程学院,辽宁沈阳110159 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [3]辽宁省电力有限公司鞍山供电公司,辽宁鞍山114001

出　　处：《机电工程》2016年第4期395-400,共6页Journal of Mechanical & Electrical Engineering

基　　金：机器人学国家重点实验室自主研究课题(Y4A120A101)

摘　　要：针对管道机器人过弯时驱动轮与管壁间的相对滑动问题以及机体对管径尺寸的适应问题,设计了采用单电机进行驱动并具有自主差动特性和自适应变径特性的管道机器人。分析了机体差动机构的传动特性,从理论上推导了管道机器人变径机构工作状态时的受力方程,得到了机器人运行时驱动轮与管壁之间的力学关系式。构建了机器人在管内的运动位姿模型,并研究了机器人在不同位姿条件下的模型中各个变量之间的对应关系。分别建立了管道机器人在弯管和变径管中运行的虚拟样机模型,最后通过仿真实验对管道机器人的自主差动特性和自适应变径特性进行了验证。研究结果表明,管道机器人可以无干涉地通过弯管,在变径管中运行时也能有效地实现自主变径,并展现出了良好的驱动性能。Aiming at the problems of relative sliding between the robot＇s driving wheel and the tube wall and the adaptation of the robot＇s body to the pipe diameter,the pipe robot with the characters of autonomous differential motion and adaptive variable diameter was designed by adopting the single motor to drive. The transmission characteristics of the differential mechanism were analyzed,the force equation of working state for the variable diameter mechanism of pipe robot was theoretically deduced,and the mechanical relation between the driving wheels and pipe wall in robot＇s operation was obtained. The movement pose model of robot in pipe was built,and the relationship between each variable in the model under the condition of different pose was studied. The virtual sample models of robot operating in the bend pipe and variable diameter pipe were built respectively. Through the simulation analysis,robot＇s characters of autonomous differential motion and adaptive variable diameter were validated. The results indicate that the pipeline robot can pass through bends without interference,in reducing tube can also effectively realize the independent variable diameter,and show a good driving characteristics.

关 键 词：差动机构 管道机器人 变径机构 仿真分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]