三轴差动式管内移动机器人的可靠性分析

通过对三轴差动式管内移动机器人驱动单元进行可靠性分析,建立了以差速故障为顶事件的故障树,用求解最小径集和割集的方法找出了影响差速器差速故障的原因,用可重构理念改进设计了三轴差速式管道机器人。改进设计的机器人经过计算机仿真验证和样机运行,改善了运动平稳性、环境适应性和驱动特性,提高了机器人在长距离管道中作业的可靠性指标。

Reliability of tri-axial differential-drive in-pipe mobile robot

A fault tree with the improper differential-drive as the top incident was established by the reliability analyses of the driving unit of a tri-axial differential-drive in-pipe mobile robot.The things accounting for the fault of the differential-drive were found by solving the minimal path set and the minimal cut-set.A tri-axial differential-drive in-pipe mobile robot was redesigned by the reconfiguration concept.The numerical simulation and the trial operation of the redesigned prototype show that,compared with the original one,its movement smoothness,environmental adaptability and driving performance were improved,enhancing the reliability of the robot in its long-distance in-pipe operation.