| 气动仿生蜈蚣外管路攀爬机器人研制 |
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| 引用本文： | 吴立波. 气动仿生蜈蚣外管路攀爬机器人研制[J]. 液压与气动, 2021, 0(8): 134-137. DOI: 10.11832/j.issn.1000-4858.2021.08.019 |
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| 作者姓名： | 吴立波 |
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| 作者单位： | 邯郸职业技术学院机电工程系, 河北邯郸 056001 |
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| 基金项目： | 河北省高层次人才资助项目(A202001115);河北省青年基金项目(SQ182022);河北省高等学校创新创业教育教学改革研究与实践项目(2017CXCY276)。 |
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| 摘 要： | 小外径管材在生产生活中较为常见,其侦测勘察一直以来是亟需解决的难题.提出一种外管路攀爬的机器人设计方案,采用蜈蚣多足结构,提升攀爬能力.采用气动作为驱动,增加抓握力,有效减少重量.通过建立虚拟样机,并利用Mechanica对重要零件脚趾进行受力分析和有限元计算,优化了脚趾的结构和尺寸.通过研制实验模型进行测试,验证了总...
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| 关 键 词： | 仿生蜈蚣 外管路攀爬 攀爬机器人 |
| 收稿时间： | 2021-02-23 |
Development of Pneumatic Bionic Centipede Robot for External Pipe Climbing |
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| WU Li-bo. Development of Pneumatic Bionic Centipede Robot for External Pipe Climbing[J]. Chinese Hydraulics & Pneumatics, 2021, 0(8): 134-137. DOI: 10.11832/j.issn.1000-4858.2021.08.019 |
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| Authors: | WU Li-bo |
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| Affiliation: | Department of Mechanical and Electrical Engineering, Handan Polytechnic College, Handan, Hebei 056001 |
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| Abstract: | Small diameter pipe is common in production and life, and its detection and investigation has always been an urgent problem. A design scheme of climbing robot in external pipe is proposed. Adopt centipede multi foot structure to improve climbing ability. Pneumatic drive is adopted to increase grip strength and effectively reduce weight. Through the establishment of virtual prototype, and the mechanical analysis and finite element calculation of the important part-toe by using Mechanica, the structure and size of the toe are optimized. The feasibility of the overall design and the effectiveness of the analysis are verified, through the development of the experimental model and the experimental test. It lays a foundation for the further research of climbing robot in external pipe. |
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| Keywords: | bionic centipede external pipe climbing climbing robot |
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