具有差动运动功能的管道机器人设计与分析.pdfVIP

机 械 工 程 学 报 JOURNAL OF MECHANICAL ENGINEERING 第 47 卷第 13 期 2 0 1 1 年 7 月 Vol.47 No.13 Jul. 2 0 1 1 DOI：10.3901/JME.2011.13.001 具有差动运动功能的管道机器人设计与分析* 唐德威 1 李庆凯 1 姜生元 2 邓宗全 1 刘 航 1 (1. 哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150001； 2. 北华大学机械工程学院 吉林 132021) 摘要：研制一种具有差动运动功能的环境自适应轮式管道机器人——三轴差动式管道机器人，该机器人在通过弯管时可根据 管道环境利用三轴差动机构自动调节各驱动轮的转速，从而提高机器人通过弯管时的运动柔顺性。为分析三轴差动式管道机 器人的运行状况，通过建立机器人在弯管内运行的精确位姿模型，求得机器人驱动轮轮心以及驱动轮与管壁接触点的位置； 以位姿模型为基础对机器人各驱动轮的速度进行分析，得到机器人过弯管时各驱动轮的理论速比关系。对机器人驱动轮与管 壁的正压力进行分析，并建立机器人的牵引力模型。搭建管道试验环境进行机器人的差速试验和牵引力试验，测试值与理论 分析基本一致，说明三轴差动式管道机器人具有良好的弯管通过性能，适合于在工程管道中应用。 关键词：管道机器人 三轴差动机构 位姿分析 环境自适应 中图分类号：TP24 Design and Analysis of a Pipeline Robot with the Function of Differential Movement TANG Dewei1 LI Qingkai1 JIANG Shengyuan2 DENG Zongquan1 LIU Hang1 (1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001; 2. College of Mechanical Engineering, Beihua University, Jilin 132021 ) Abstract：A wheel-type pipeline robot with the ability of environment self-adaptation and the function of differential movement is developed, which can regulate the speeds of driving wheels automatically by using the tri-axial differential mechanism and improve the locomotion compliance of the robot when getting across the elbow. To analyze the differential effectiveness of the robot, an exactitude pose model of the robot in elbow is established, which makes it possible to calculate position of the wheel centers and the contact points. Based on the pose model, the theoretical speed ratios of the driving wheels can be computed easily. Also the normal force generated between the driving wheel and the pipeline wall is studied, and the model of the traction force of the robot is established. Several experiments of differential and traction force are accomplished, and the test results are consistent with the theoretical analysis. So the tri-axial pipeline robot possesses outstanding ability of moving in elbow an