面向管道机器人的非对称惯性驱动系统及其动力学特性  

Asymmetric Inertia Driving System for In-pipe Robots and Its Dynamics Characteristics

作　　者：刘大伟[1,2] 刘佳佳 LIU Dawei;LIU Jiajia(College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei,066004;National Engineering Technology Research Center of Cold Rolling Strip Equipment and Technology,Yanshan University,Qinghuagndao,Hebei,066004)

机构地区：[1]燕山大学机械工程学院,秦皇岛066004 [2]燕山大学国家冷轧板带装备及工艺工程技术研究中心,秦皇岛066004

出　　处：《中国机械工程》2020年第18期2189-2195,2205,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51705444);河北省自然科学基金资助项目(E2016203183)。

摘　　要：针对恶劣管道作业环境,提出了一种由非圆齿轮和双轴偏心块组成的非对称惯性驱动机器人。阐明了同性干摩擦环境中机器人的惯性驱动原理,研究了非圆齿轮偏心率、阶数以及非圆齿轮与偏心块间相位角对惯性力的影响规律,获得了适合同性摩擦条件的非对称惯性力激发原则;通过数值方法求解出水平和倾斜管道中机器人的动力学模型,分析了机器人平均移动速度随系统参数的变化规律。研究结果表明:随机器人与偏心块的质量比和管道倾角(机器人爬坡状态)的增大,机器人移动速度减小;随电机角速度、非圆齿轮偏心率、偏心块回转半径以及管道支承力的增大,机器人移动速度先增大后减小。An asymmetric inertia driving robot composed of noncircular gears and double-shaft rotating masses was presented for the bad in-pipe environments.The inertia driving mechanism of the robots was illuminated in an isotropic dry friction condition.The effects of the eccentricity,the order of noncircular gears and the phase angles between the noncircular gears and the rotating masses on the inertia forces were discussed,a generation principle of asymmetric inertia forces suitable for isotropic friction environments was obtained.The dynamics models of the robots in the horizontal and inclined pipes were solved through numerical method.The variations of the system parameters on the average movement velocities of the robots were analyzed.The results show that as the mass ratio of robots to the rotating mass and the obliquity of pipes(in uphill state of the robots)increases,the movement velocities of the robots reduce;with the increasing of the angular velocities of motors,eccentric ratios of the noncircular gears,the turning radii of the rotating masses and the supporting forces from the pipes,the movement velocities of the robots first increase and then decrease.

关 键 词：管道机器人 惯性驱动 非圆齿轮 非对称惯性力 行走动力学 

分 类 号：TH132[机械工程—机械制造及自动化]