管道攀爬机器人结构设计及行走动力特性分析-机械工程专业论文.docxVIP

万方数据 万方数据 Abstract The pipeline robot has been widely used in all kinds of dangerous work environment instead of manual operation, reduced the risk of manual detection and the cost of operation greatly, and has been have a very broad market in the future. So it has gradually become one of the popular fields of the development of industrial robot. The pipeline climbing robot researched is a new-type robot with being able to move on the external surface of pipeline automatically; having the abilities of turning, transition, and certain obstacle surmounting; and can carry on the quality testing and maintenance by equipping with corresponding test equipment in this paper. The application background and development situation of technology of the existing pipeline climbing robot at home and abroad, and the environmental conditions of the pipeline are investigated, analyzed and researched in a little more detail. The research status of the pipeline climbing robot is also demonstrated and summarized, and the overall design scheme of a lightweight articulated pipeline climbing robot is proposed in the paper, and the optimization design of the robot is conducted based on the analysis of motion dynamic characteristics. The main contents of this study are shown follows: Discussing the feasibility of the overall scheme of the pipeline climbing robot, determining the climbing gait of this climbing robot can be divided into the worm climbing gait and the turning climbing gait. The state, process and overstepping ability are analyzed and discussed deeply when the robot climbs and moves by using these two kinds of gaits. Aiming at the environmental states of pipeline and inspection requirements in the actual production, the overall structure of the pipeline climbing robot is designed, and the 3D solid modeling and structural design of the robot are conducted. The simulation analysis for the process of climbing of the pipeline climbing robot is done based on the software ADAMS; the c