一种单向伸缩式管道机器人系统的建模与仿真

介绍了基于单向运动机构的伸缩式管道机器人工作原理,对管道机器人整机系统进行合理简化,得到等效系统模型.根据等效模型,分析直流伺服电机、滚珠丝杠,以及单向运动机构的动力学行为.为了研究系统的输入电压信号和输出的运动速度之间的关系,建立了机器人系统的完整框图模型.利用Matlab对机器人系统进行仿真,分析不同输入信号下系统的响应特性,为管道机器人的机构设计和控制器设计提供理论依据.

Modeling and Simulation of a Unilateral Inchworm In-pipe Robot System

First introduce the working principle of the inchworm in-pipe robot based on unilateral movement mechanism,and then an equivalent system model is founded after simplifying the whole robot system.According to the equivalent model,analyze the dynamic behaviors of DC servo motor,ball screw and unilateral movement mechanism.A complete framework model for the in-pipe robot is constructed,in order to research the relationship between input voltage signals and output movement speed of the system.The simulation of the in-pipe robot is performed by using MATLAB,to analyze the response characteristics in different input signals.It provides the theoretical foundation for mechanical structure and controller design of in-pipe robot.