带外鳍振动驱动机器人的运动机理及试验研究  

Motion Mechanism and Test Study of Vibration-Driven Robot with External Fins

作　　者：郭俞良 郭瑞 唐陈伟 姚红良[1] GUO Yu-liang;GUO Rui;TANG Chen-wei;YAO Hong-liang(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《东北大学学报（自然科学版）》2023年第10期1448-1454,共7页Journal of Northeastern University(Natural Science)

基　　金：武器装备预研项目(50910050302);国家自然科学基金资助项目(52075084)

摘　　要：为了满足垂直管道检测的需求,设计了一种带外鳍振动驱动的机器人,并进行了运动机理研究.根据机器人的结构,考虑摩擦和冲击这两个非光滑非线性因素,建立了机器人系统的非光滑多体动力学模型.进行了机器人的频域和时域响应数值仿真分析,并研究了不同负载质量参数对机器人的影响.开发了机器人样机,包括单片机、无线控制模块等.对机器人进行竖直管道爬行测试,在测试过程中给机器人增加了额外的质量来验证机器人的负载能力.试验结果验证了数值模拟结果的正确性,机器人的最大向上爬行速度为10.8 mm/s.To satisfy the demand of vertical pipe inspection,a vibration-driven robot with external fins is designed and the motion mechanism is studied.Based on the structure of the robot,the non-smooth multibody dynamics model of the robot system is developed,and the two non-smooth nonlinearities,which are friction and impact,are considered.Numerical simulation analysis of the frequency and time domain response of the robot are carried out and the effects of different load quality parameters on the robot are studied.The robot prototype is developed,including microcontrollers,wireless control modules,etc.The robot is tested for vertical pipe crawling,and additional mass is added to the robot to verify the load capacity of the robot during the test.The test results verify the correctness of the numerical simulation results and the maximum upward crawling speed of the robot is 10.8 mm/s.

关 键 词：振动驱动 非光滑系统 振动冲击 垂直爬行 多体动力学 

分 类 号：TD451[矿业工程—矿山机电]