微小管道机器人适应不同管径的3种调节机构的力学分析

针对内径为15 mm~20 mm的微小管道,设计了3种适应不同管径的常用调节机构。分析了凸轮推杆和丝杠螺母副调节机构的力学特性,并给出了计算结果,比较分析了各自的优缺点。根据实际需要,最终选用了丝杠螺母副调节机构,设计了能适应管径为15 mm~20 mm管道的机器人。利用机械系统动力学仿真软件ADAMS建立了机器人虚拟样机牵引力测试模型,仿真表明:该调节机构具有15 N左右的牵引力输出,且该调节机构的适应管径能力很好地满足设计需要。

Dynamic Analysis of Three Regulating Mechanisms for a Micro In-pipe Robot Adaptable to Different Pipe Diameters

For micro pipes whose diameters range from 15 to 20mm,three commonly used regulating mechanisms are proposed by analyzing the mechanical properties of each type,comparing their advantages and disadvantages and giving the computing result.According to the actual engineering needs,a lead screw and nut pair regulating mechanism is chosen and a novel in-pipe robot is designed,which can adapt to micro pipes with diameters in the range of 15 mm～20mm.The mechanical dynamics software ADAMS is adopted to establish the virtual prototype testing model,which is used to test the traction force of the robot.Simulation result shows that this regulating mechanism has a traction force output of 15N,and it can meet the requirements very well.