摘要
针对管道检测机器人结构和运动特点,以及机器人在管道中行走方式选择,以管道检测机器人在管道中力和力矩动态平衡为理论基础,提出了一种求解四驱管道机器人的动力学理论算法,此动力学理论方法可以很好的解决管道检测机器人在运动过程中力平衡计算问题,基于ADAMS仿真软件建立了机器人虚拟样机模型,通过添加约束、设置驱动参数,建立相应的虚拟仿真环境,对管道检测机器人驱动轮的速度、加速度和驱动力矩曲线进行测量、分析和评估,验证理论计算的合理性,为管道检测机器人运动控制系统的拟定提供了重要的理论依据。
In allusion to the structure and kinematic characteristics of pipeline detection robot,and the running mode selection of robot in the pipeline,on the basis of the force and torque dynamic equilibriume in pipeline,a kind of dynamic theory algorithm solving the raider pipe robots was put forward,which may solve the movement force equilibrium calculation problem.Then a virtual prototyping model of robot was established based on ADAMS simulation software by adding restraint,setting drive parameter and setting up the corresponding simulation environment,and the velocity,acceleration,and drive torque curve of driving wheel of robot for inspecting pipeline were measured,analyzed and evaluated to verify the rationality of the theoretical calculation,which provides important theory basis for the control system of robot movements.
出处
《机械设计与制造》
北大核心
2012年第7期150-152,共3页
Machinery Design & Manufacture
基金
国家973项目(2009AA04Z20)
