柔性蠕动管道机器人结构设计和通过性分析

为提高对管道复杂环境的适应性,实现机器人平稳可靠行走,对柔性蠕动管道机器人进行了结构优化设计和管内通过性分析。该机器人采用柔性弹簧轴驱动和单向轮机构,靠自身的结构自适应性实现蠕动行走,并能在一定范围内自主适应管道内径和形状的变化。通过对蠕动机器人在直线管道的运动分析和受力分析,得到了机器人的蠕动行走条件。利用ADAMS仿真软件对机器人进行了运动仿真,验证了该机器人蠕动行走的可行性和行走条件的正确性。

Optimal Design and Trafficability Analysis of a Flexible Squirm Pipe Robot

To improve the adaptability to the complex environment of the pipe and make the robot move stable,the structure of the robot is optimally designed and the trafficability in the pipe is analised.The robot is made up with flexible helical axle and one-way wheels.The peristaltic motions in pipe are realized with the adaptability of the structure.And the robot can adapt to the pipeline with different diameters and different shapes by itself.The motion and force of the pipe robot in straight pipe are analyzed.The mechanical models of the pipe robot are established.The moving condition of the pipe robot is inferred.The motion of the pipe robot is simulated by ADMAS.The results of the simulation illustrates that the pipe robot can realize peristaltic motion and the moving condition is right.