仿生双爪式管道攀爬机器人设计与分析  

Design and Analysis of Bionic Double-claw Pipe Climbing Robot

作　　者：叶增林 张良安[2,3] 孙洒 汪玉冰 刘俊 YE Zenglin;ZHANG Liang'an;SUN Sa;WANG Yubing;LIU Jun(School of Artificial Intelligence,Ma'anshan University,Ma'anshan 243100,Anhui,China;School of Mechanical Engineering,Anhui University of Technology,Ma'anshan 243002,Anhui,China;Anhui Hiseed Robot Company Limited,Anhui Ma'anshan 243032,Anhui,China)

机构地区：[1]马鞍山学院人工智能创新学院,安徽马鞍山243100 [2]安徽工业大学机械工程学院,安徽马鞍山243002 [3]安徽海思达机器人有限公司,安徽马鞍山243032

出　　处：《机械科学与技术》2024年第6期991-999,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：安徽高校自然科学研究项目(KJ2021A1230);安徽高等学校省级质量工程项目(2021xqhzsjjd078);马鞍山学院校级科研基金项目(QS2020011)。

摘　　要：针对燃气与管道工程等领域的高空作业,设计了一种永磁铁辅助式具有可调步距的蠕动和翻转两种步态的双夹持器仿生攀爬机器人。为防止机器人出现滑移和翻转倾覆失稳情况,对其进行了力学分析;根据机器人构型对其进行了运动学与攀爬步态分析;对蠕动攀爬步态进行直线路径规划,并在SOLIDWORKS MOTION环境下对其两种步态进行了运动仿真。样机试验说明了机器人在蠕动和翻转两种步态下均具有良好的稳定性,两种步态配合可实现障碍物的翻越。该机器人在高空管道领域作业方面具有较好的应用价值。Aiming at high-altitude operations in the gas and pipeline engineering fields,a permanent magnet-assisted dual-gripper bionic climbing robot is designed.The robot has two gaits,creeping and flipping,and the step distance of the creeping gait can be adjusted.In order to prevent the robot from slipping and overturning instability,mechanical analysis was carried out.Kinematics and climbing gait analysis were performed on the robot according to its configuration.The linear path planning of the creeping climbing gait is carried out,and the two gaits are simulated in the SOLIDWORKS MOTION environment.The prototype test shows that the robot has the good stability in both creeping and turning gaits,and the two gaits can be used to achieve obstacles overturning.The robot has the good application of high-altitude operation in the pipeline engineering.

关 键 词：仿生机器人 攀爬机器人 运动学分析 运动仿真 力学分析 管道工程 

分 类 号：U178[交通运输工程] TP242[自动化与计算机技术—检测技术与自动化装置]