平行四杆联动式管道机器人弯管过渡阶段的速度控制

为提高平行四杆联动式管道机器人弯管过渡阶段的通过能力,提出一种基于机器人过弯偏角变化的速度控制模型。通过对机器人弯管过渡阶段的运行状态的分析,建立了机器人在该阶段运行的位姿模型,求解该位姿模型可得到机器人各驱动轮的轮心以及驱动轮与管壁接触点的位置坐标。以建立的位姿模型为基础,结合无干涉条件下的驱动轮运行速度与驱动转速之间的关系,得到各驱动轮驱动转速基于偏角变化的速比关系,即速度控制模型。对所提出的基于偏角变化的速度控制模型进行仿真验证,仿真结果与理论计算基本一致,验证了该控制模型的正确性。

Velocity control of the parallel four-bar linkage-type pipeline robot in transition phase of elbow

In order to improve the passing capacity of the parallel four-bar linkage-type pipeline robot in the transition phase of elbow,a velocity control model based on the variety of deflexion angle when the robot passes in the elbow is proposed.By analyzing the movement of the robot in the transition phase,a pose model of the robot is established.Using this model the coordinates of the wheel centers and the contact points between the wheels and the pipeline surface can be calculated.Based on the pose model of the robot,and the relationship between the wheel speed and the driving angular velocity under the condition of no interference,the ratio relationship of the driving angular velocities of the wheels is obtained,that is the velocity control model.The proposed velocity control model is validated by simulation analysis.The simulation result is consistent with the theoretical calculation.