摘要
燃气管道机器人作为一种集铺设、检测、修复为一体的设备在管道工程领域应用的愈来愈广泛。为了适应不同的管道直径,管道机器人需要设计合理的变径机构。首先设计了两种管道机器人的变径机构,分别对其进行动力学分析,在同等条件下所需理论电机转矩大小比较结构优劣。最后利用ADAMS动力学分析软件进行仿真模拟与动力学分析,设计了更为合理的变径机构,有利于节省成本,同时对于机器人的轻量化研究有重要意义,为管道机器人设计提供了参考。
Gas pipeline robot is applied more and more widelyas a tool oflaying,inspection,and repair in the field of pipeline engineering.In order to adapt to different pipe diameters,it is necessary to design a reasonable mechanism for the robot to match variable diameters.It mainly introduced two kinds of mechanism capable of changing diameter,and then carried on kinetic analysis.Structure evaluation is also consideredby comparingthe torque of the motor under the same condition.Finally,with the help of ADAMS software,a more reasonable structure was selected through the simulation and dynamic analysis results.This will do good to saving costs,will show great significance for lightweight research of robot,and will provide a reference for the design of pipeline robot.
作者
曹建树
张海超
王庆
CAO Jian-shu;ZHANG Hai-chao;WANG Qing(College of Mechanical Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617,China)
出处
《机械设计与制造》
北大核心
2019年第11期122-125,共4页
Machinery Design & Manufacture
关键词
管道机器人
变径机构
动力学分析
仿真
轻量化
Pipeline Robot
Variable Diameter Mechanism
Dynamics Analysis
Simulation
Lightweight
