微小型螺旋驱动管道机器人建模与分析

介绍了基于管道内径为15mm的螺旋驱动管道检测机器人的组成及工作原理，分析了其运动力学性能及在弯管内的几何约束条件。应用机械系统动力学仿真软件ADAMS，建立管道机器人的虚拟样机。通过计算机仿真得到机器人牵引力与驱动轮位置参数和尺寸参数之间的关系数据，证明了理论分析的正确性，同时为研制微小型螺旋式管道机器人提供设计依据。

Modeling and Analysis of Micro Screw Motion In-pipe Robot

The mechanism and operating principle of the robot base on screw motion for pipe inspection are presented. The motion mechanism and the geometric eonstraint in the elbow are analyzed. The software ADAMS is used to build a virtual prototype of the in-pipe robot. The relational data between the traction force of the robot and the parameters of traction wheel have been obtained with the aid of computer simulation so as to prove the correctness of the theoretical analyses, thus providing a design basis for development of micro screw motion in-pipe robots.