| 小内径管道检测用振动驱动机器人的设计与试验 |
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| 引用本文： | 郭瑞,朱清东,郭俞良,姚红良.小内径管道检测用振动驱动机器人的设计与试验[J].动力学与控制学报,2023,21(1):89-96. |
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| 作者姓名： | 郭瑞 朱清东 郭俞良 姚红良 |
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| 作者单位： | 东北大学 机械工程与自动化学院，沈阳 110819 |
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| 基金项目： | 国家自然科学基金资助项目(52075084，U08257) |
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| 摘 要： | 针对目前胶囊机器人普遍存在爬行速度慢、远程操控过程复杂的问题，开发了用于小内径管道检测的振动驱动机器人.基于非光滑多体动力学，建立了样机动力学特性的数学模型，在建模中考虑了摩擦和冲击两种非光滑非线性，数值分析了机器人的运动行为及参数影响.进行了机器人样机的研制，包含微控制器、无线控制模块等，并在透明亚克力管道中进行测试.机器人长50mm,直径28mm,可以达到7.5mm/s的最大前进速度和-3.5mm/s的最大后退速度.研究证明了该型振动驱动机器人进行小内径管道检测的可行性.
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| 关 键 词： | 振动驱动 冲击振动 非光滑系统 动力学建模 |
| 收稿时间： | 2022/1/13 0:00:00 |
| 修稿时间： | 2022/2/14 0:00:00 |
Design and experiment of vibration driven robot for inspection of small inner diameter pipes |
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| Guo Rui,Zhu Qingdong,Guo Yuliang,Yao Hongliang.Design and experiment of vibration driven robot for inspection of small inner diameter pipes[J].Journal of Dynamics and Control,2023,21(1):89-96. |
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| Authors: | Guo Rui Zhu Qingdong Guo Yuliang Yao Hongliang |
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| Abstract: | Aiming at issues of slow crawling speed and complex remote control process of capsule robot, a vibration driven robot for small inner diameter pipeline detection is developed. Based on the non-smooth multi-body dynamics, a mathematical model of dynamic characteristics of the prototype is established. Two non-smooth nonlinearities , e.g., friction and impact, are considered in modeling, and the motion behavior and parameter influence of the robot are numerically analyzed. The robot prototype is developed, including microcontroller and wireless control module, and tested in a transparent acrylic pipe. With a length of 50mm and a diameter of 28mm, the robot can reach a maximum average forward speed of 7.5mm/s and a maximum backward speed of -3.5mm/s. The research proves feasibility of the vibration driven robot for small inner diameter pipeline detection. |
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