刚柔耦合管道机器人管道通过性分析及验证  

Analysis and Validation on Traveling-capability of In-pipe Rigid Flexible Coupling Robot

作　　者：隋海鸥 葛乐通[1] 李先波[1] 

机构地区：[1]常州大学机械工程学院,江苏常州213016

出　　处：《机械科学与技术》2016年第7期1065-1072,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：南京南化建设有限公司与常州大学联合开发项目资助

摘　　要：针对目前管道机器人对复杂管道连续作业不理想的问题,提出一种新型刚柔耦合机器人。机器人采用首尾扩张机构与中间弹簧驱动机构配合工作的步进式前进工作方式,而且通过弹簧机构的柔性可以更好的适应管道变化;通过设计的机器人提出了一种新的管道通过模式,并根据机器人受力情况、运动特性以及管道受力分析,从多方面分析管道机器人通过管道时的影响因素,得出一种不仅能够适应复杂变化的管道,而且可以实现对不同曲率半径管道探测的机器人;最后对机器人进行实验研究以及验证。As continuous working ability at complex pipe of the pipeline robot at home and abroad is not ideal, a kind of rigid flexible coupling robot is put forward, which the front part and the back part works together with the middle part that is composed of a spring letting the robot receive forward. Furthermore, under the influence of this way the robot can better adapt to the changes of the pipe. A new mode to pass through the pipeline is also presented, and a number of factors, including force analysis of robot, motion characteristics and force analysis of pipeline, are analyzed when the robot gets through the pipeline, and then a new robot can not only adapt to complex pipelines, but also detect the pipelines with different curvature radius. At last, the experiments are used to validate the robot.

关 键 词：刚柔耦合 管道机器人 通过性 管道探测 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TE973[自动化与计算机技术—控制科学与工程]