管道机器人的转向稳定性研究  

Research on Steering Stability of Pipeline Robots

作　　者：邵宏刚 刘付泽 刘锐 SHAO Honggang;LIU Fuze;LIU Rui(Tianshui Electric Drive Research Institute Group Co.,Ltd.,Tianshui 741020,Gansu,China;State Key Laboratory of Large Electric Drive System and Equipment Technology,Tianshui 741020,Gansu,China;Beijing University of Technology,Beijing 100124,China)

机构地区：[1]天水电气传动研究所集团有限公司,甘肃天水741020 [2]大型电气传动系统与装备技术国家重点实验室,甘肃天水741020 [3]北京工业大学,北京100124

出　　处：《电气传动自动化》2024年第5期22-26,32,共6页Electric Drive Automation

摘　　要：管道机器人通常以单自由度轮式机器人(以下简称机器人)为载体在管道内部工作。本文根据机器人在管道内轴向运动的特点,建立了右手坐标系,并通过对机器人车轮的动力学分析及力矩平衡分析,应用牛顿定理、达朗贝尔-拉格朗日原理、拉格朗日方程等求解了管道机器人的转向动力学方程,深入研究了管道机器人的转向稳定性难题。The pipeline robots usually work inside the pipelines using single degree of freedom wheeled robots(hereinafter referred to as robots)as carriers.This paper establishes a right-handed coordinate system based on the characteristics of axial motion of robots in pipelines.Through dynamic analysis and torque balance analysis of robot wheels,the steering dynamics equation of pipeline robots is solved using Newton's theorem,D'Alembert Lagrange principle,Lagrange equation,etc.,and the steering stability problem of the pipeline robots is deeply studied.

关 键 词：达朗贝尔-拉格朗日原理 车辆转向 机器人 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]