一种适用于刚性微型管道的变胞机器人  

A metamorphic robot suitable for rigid miniature pipelines

作　　者：贾晓丽[1,2] 戴京廷 米柏川 淡佳乐 柯燎亮 JIA Xiaoli;DAI Jingting;MI Baichuan;DAN Jiale;KE Liaoliang(College of Mechanical and Transportation Engineering,China University of Petroleum,Beijing 102249,China;High End Oil and Gas Equipment Intelligent Design and Manufacturing Research Center,China University of Petroleum,Beijing 102249,China;PetroChina Suining Natural Gas Purification Co.,Ltd.,Suining 629000,China;College of Mechanical Engineering,Tianjin University,Tianjin 300072,China)

机构地区：[1]中国石油大学(北京)机械与储运工程学院,北京102249 [2]中国石油大学(北京)高端油气装备智能设计与制造研究中心,北京102249 [3]中石油遂宁天然气净化有限公司,遂宁629000 [4]天津大学机械工程学院,天津300072

出　　处：《机械传动》2025年第3期125-133,共9页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(5233000140);北京市昌平区“科技副总”专项(202302004010)。

摘　　要：【目的】为了解决传统管道机器人对复杂工作环境适应性差等问题,提出一种适用于刚性微型管道的形状记忆合金(Shape Memory Alloy,SMA)驱动蠕动式变胞机器人设计方案。【方法】设计了基于SMA驱动的锚固结构和伸缩结构,利用Adams软件对机器人蠕动前进和转弯过程进行动力学仿真与分析,并搭建样机进行运动试验验证。【结果】通过仿真获得的随时间变化的关节驱动力矩、速度、位移曲线,验证了机器人运动过程的稳定性。试验表明,样机在直径22 mm的“L”形和三通管道环境中能够稳定运动。结果证明,该变胞机器人通过锚固和伸缩结构的配合可实现蠕动前进,通过变胞可实现主动转弯,并具有良好的管道通过性。[Objective]To address the limited adaptability of traditional pipeline robots in complex working environ‐ments,a design proposal for a shape memory alloy(SMA)driven peristaltic metamorphic robot suitable for rigid miniature pipelines was presented.[Methods]An SMA-driven anchoring and telescopic structure was designed.Dynamic simulations and analysis of the robot’s peristaltic movement and turning processes were performed using Adams software,followed by the prototype construction and motion experiments for verification.[Results]Through the simulations,curves of joint driving torque over time,as well as velocity and displacement curves verify the stability of the robot’s motion.Tests demonstrate that the prototype can move stably in“L”-shaped and three-way junction pipelines with 22 mm diameter.The results prove that the metamorphic robot can achieve the peristaltic movement through the coordination of anchoring and telescopic structures,realize the active turning through metamorphosis,and demonstrate the excellent pipeline traversing capability.

关 键 词：微型管道 管道机器人 变胞机构 ADAMS软件 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]