基于Matlab管道内表面处理机器人驱动特性研究及仿真分析  

Drive characteristics research and simulation analysis of pipeline inner surface cleaning robot based on Matlab

作　　者：施绍宁[1] SHI Shaoning

机构地区：[1]陕西理工大学机械工程学院,陕西汉中723001

出　　处：《现代机械》2020年第6期6-13,共8页Modern Machinery

基　　金：陕西省教育厅专项科研计划项目(15JK1140)。

摘　　要：针对现有清理管道内表面污物和锈蚀的管道机器人存在拖动力不足和自适应性差等缺陷,提出一种一入三出的管道机器人驱动机构,建立驱动系统的数字化模型。分析了管道内表面处理机器人驱动特性、传动关系和力矩变化特点,完善了管道机器人的设计理论。建立了管道机器人驱动系统的虚拟样机模型,利用Matlab软件分析测试了机械运动学特性。结果表明,此管道机器人驱动机构具有很好的自适应性、较好的差动功能和较强的行走性能,可以解决拖动力不足和自适应性差的问题。In view of the defects of existing pipeline robots for cleaning dirt and corrosion on the inner surface of pipelines,such as lack of towing power and poor adaptability,this paper presents a one-in-three-out pipeline robot drive mechanism and establishes a digital model of the drive system.The drive characteristics,transmission relationship and torque change characteristics of the robot are analyzed,and the design theory of pipeline robot is improved.The virtual prototype model of the pipeline robot drive system is established,and its mechanical kinematic characteristics are analyzed and tested by using Matlab software.The results show that the drive mechanism has good adaptability,good differential function,and high walking performance.It can solve the problems of insufficient towing power and poor adaptability of pipeline robots.

关 键 词：管道机器人 驱动特性 三轴差速 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]