摘要
目的研究新型步进式管道机器人运动学和力学性能,揭示管道机器人的运动规律,验证其运动状态和工作特性.方法采用理论建模和基于ADAMS软件仿真分析的方法,获得管道机器人相关机构的运动规律曲线以及机器人在管道内步进运动时活塞驱动力变化规律曲线.结果机器人能够适应管道直径范围为750~1 021.5 mm,步距为103 mm,速度和加速度曲线平滑,运行稳定,无震颤现象;当承受负载4 000 N时,伸缩夹紧机构驱动力变化范围为1 407.6~18 113.7 N,步进单元驱动力范围为1 978.46~7 645.38 N,驱动力曲线平滑,无力冲击,可驱动性能良好.结论该新型管道机器人的运动性能满足功能要求,具有适应管径范围大、速度快、运动平稳和驱动性能好等优点.
The kinematics analysis and mechanical property of the robot is carried out in this paper,in order to obtain the motion lawof the new ly developed pipeline robot,verify its motion state and work characteristics.Theoretical modeling and simulation analysis based on ADAMS software are used to get the motion law curve of the pipeline robot and obtain the change rule curve of the piston driving force when the robot moves in the pipeline.Results show s that the robot can adapt to the pipeline diameter range of 750~1 057.5 mm,and the step distance is 103 mm with smoothspeed and acceleration curve,stable operation with no tremor phenomenon;When the load force is4 000 N,from the driving force change curve,the driving force change range of the telescopic clamping mechanism is 1 407.6~18 113.7 N.The driving force range of the stepping element 1 978.46~7 645.38 N,driving force curve smoothing and inability to shock with good drive performance.The kinematics performance and mechanical property of the new type of pipeline robot is verified and meet the functional requirements.It is indicated that the new pipeline robot has the advantages of adapting to the large diameter range,stable movement,and high-driving performance.
作者
罗继曼
张东跃
魏泽明
刘思远
LUO Jiman ZHANG Dongyue WEI Zeming LIU Siyuan(School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China, 110168)
出处
《沈阳建筑大学学报（自然科学版）》
CAS
CSCD
北大核心
2017年第2期337-346,共10页
Journal of Shenyang Jianzhu University：Natural Science
基金
国家自然科学基金项目(51575365)
辽宁省自然科学基金项目(201602620)
关键词
步进式
管道机器人
运动学
动力学
仿真分析
stepping type
pipe robot
kinematics
dynamics
simulation analysis
