多支撑轮式管道机器人运动仿真

运用SolidWorks及运动仿真插件COSMOSMotion,对应用在石油、天然气管道内的多支撑轮式压差驱动内检测机器人进行虚拟样机建模、装配和运动仿真。通过虚拟样机在直管、弯道内的运动仿真,得出了影响样机平稳运动和通过性的关键因素。仿真结果表明,对于直管内的运动,压缩弹簧预紧后长度为最小工作载荷长度时,机器人运动平稳性要明显好于压缩弹簧预紧后长度大于最小工作载荷长度的情况;对于弯道内的运动,管道机器人在3D弯道内以4m/s,在5D弯道内以6m/s通过时具有良好的通过性。

Simulation of multi-propping wheel pipeline robot

Using the SolidWorks and the COSMOSMotion plug-in,the researchers have performed the modeling,assembling and motion simulation of the virtual prototype for the detection robot which is applied in the multi-propping wheel differential drive in oil and gas pipelines. Based on the motion simulation of the prototype in the straight pipe and bend,the key factors to affect the smooth motion and trafficability of the prototype have been obtained. The simulation results show that,as for the motion of the prototype in the straight pipe,when the length of the pre-tightened compression spring is the minimum working load length,the motion stationarity of the robot is noticeably better than that when the spring's length is larger than the minimum working load length. As for the motion in the bend,there is a good trafficability for the pipeline robot when it moves at 4 m/s in the 3-D bend and at 6 m/s in the 5-D bend.