一种主动变径管道检测机器人的设计与样机验证  

A Design and Prototype Verification of an Active Diameter-Varying Pipeline Inspection Robot

作　　者：马威战 张丹 刘健 田春旭 夏志豪 MA Weizhan;ZHANG Dan;LIU Jian;TIAN Chunxu;XIA Zhihao(Institute of AI and Robotics,Academy for Engineering&Technology,Fudan University,Shanghai 200433,China)

机构地区：[1]复旦大学工程与应用技术研究院智能机器人研究院,上海200433

出　　处：《复旦学报（自然科学版）》2023年第5期627-636,共10页Journal of Fudan University：Natural Science

摘　　要：为提高工作效率并节省人力物力,机器人被广泛应用于管道检测任务。本研究基于管道检测机器人需要躲避障碍物和适应不同管径的需求,设计了一种新型空间二自由度支链结构,并建立了支链末端中点的运动学模型。通过协同控制3条支链,可重构管道检测机器人的机械结构,从而可实现适应不同内径的管道和通过存在障碍物管道的功能。同时,本研究建立了机器人弯管转向的轨迹模型并求出了机器人弯管转向的运动规律。最后研究了管道检测机器人的避障方式并分析了机器人的避障能力。还使用ADAMS软件对避障运动进行了仿真,并基于仿真结果比较了两种避障方式。仿真结果表明:这两种避障方式都可实现避障的功能,但在避障过程中机器人的稳定性稍有不同。本研究使用3D打印技术制备了管道检测机器人样机,并对该样机的弯管转向功能、避障能力和在竖直管道中攀爬的功能进行了实验验证。实验结果表明:该机器人具备一定的避障功能,还能够成功地通过弯管并且能够攀爬竖直的管道。In order to improve work efficiency and save human and material resources,robots are widely used in pipeline inspection tasks.In this study,a new spatial two-degree-of-freedom supporting chain was designed based on the need for pipeline inspection robots to avoid obstacles and adapt to different pipe diameters,and the kinematic model of the midpoint of the supporting chain end was established.By co-controlling the three supporting chains,the mechanical structure of the pipeline inspection robot can be reconstructed,thereby achieving the function of adapting to pipes with different inner diameters and passing through pipes with obstacles.At the same time,this study established a trajectory model for the pipeline robot's bending and turning,and determined the motion law for the pipeline robot's bending and turning.Finally,the obstacle avoidance method of the pipeline inspection robot was studied,and the obstacle avoidance ability of the robot was analyzed.The obstacle avoidance motion was simulated by ADAMS software,and two obstacle avoidance methods were compared based on the simulation results.The simulation results show that both obstacle avoidance methods can achieve the function of obstacle avoidance,but the stability of the robot is slightly different during the obstacle avoidance process.A pipeline inspection robot prototype was prepared using 3D printing technology in this study,and the bending and turning function,obstacle avoidance ability,and climbing ability in vertical pipes of the prototype were experimentally verified.The experimental results show that the robot has obstacle avoidance function,can successfully pass-through bent pipes,and can climb vertical pipes.

关 键 词：管道检测机器人 主动变径 转向运动 避障运动 ADAMS仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]