链式多单元管道机器人动力学特性分析-dynamic characteristics analysis of chain multi-unit pipeline robot.docxVIP

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链式多单元管道机器人动力学特性分析-dynamic characteristics analysis of chain multi-unit pipeline robot.docx

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链式多单元管道机器人动力学特性分析-dynamic characteristics analysis of chain multi-unit pipeline robot

AbstractChainedmulti-unitwheel-typein-piperobotcanachieveeffectiveandeconomicalpipelineequalitytesting,troubleshootingandmaintenance,whichiswidelyusedinengineeringpipelines.Thedynamiccharacteristicsofin-piperobotareassociatedwithlotsofvitalissues,suchasgettingthroughpipelinesystemcompliantly,predictinganddistributingthelimitedenergy,andreducingwheels’frictionalwear.Thispaperestablishesuniversalphysicalmodelofchainedmulti-unitin-piperobotsystembasedonwheel-typein-piperobots,andtheuniversalphysicalmodelcontainswheel-typein-piperobots’similaritiesandmaincharacteristics.Theposemodelinelbowisestablishedwithconsideringthewheels’size.Onthisbasis,thewheels’theoreticalangularvelocityratiorelationsareobtained.Thestaticequilibriumequationandswiveltorquebalanceequationareestablishedbycalculatingthetractiveforceofdrivingunitmayoutputandanalysingforcesthatareappliedtounit.Thecorrespondingnumericalexamplesaregiven.Asamulti-rigid-bodysystem,thedynamicmodelofchainedmulti-unitin-piperobotsystemisestablishedbyapplyingLagrangemethodofmulti-bodysystemdynamics.Thebasickineticequationiscreatedwithoutconsideringpipeline’sconstraints.ContactforcesofpipelinecanbeaddedinthebasickineticequationbyapplyingLagrangemultipliers,thenthefullkineticequtionisobtained.Thecomplementaryfeaturesofcontact-detachandstiction-slidingcanbecreatedfromtangentialandnormaldirection.Finally,astandardlinearcomplementaryproblem(LCP)isobtained.Andthedynamiccharacteristicsofin-piperobotsystemwillbeobtainedbysolvingtheLCP.Thenumericalexamplewhilerobotsystemrunninginstraightpipelinewithauniformspeedisgiven.Thevirtualprototypemodelofin-piperobotanditspipelinesystemarecreatedinADAMSbasedonvirtualprototypetechnology.Takethetheoreticalangularvelocityasdriving-unitwheels’inputangularvelocityunderdifferentattitudeangles,andthestateofmotionofeachdrivingwheelisdetermined.Dynamicsimulationsaredoneandthevariationsofcontactforcesbetweeneachwheelandpipewallareobtained.Simulationresultsandtheoreticalresultsarebasicallythesame,andcorre