Body-Twist of Pipeline Robot in Elbow

您当前的位置：

首页 >

文章列表页 >

Body-Twist of Pipeline Robot in Elbow

更新时间：2025-07-09

- Body-Twist of Pipeline Robot in Elbow
- Vol. 45, Issue 10, Pages: 19-23+29(2011)
- 作者机构：
  
  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
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP24
- Online First：10 October 2011，
  
  Published：2011
- 稿件说明：
移动端阅览
Body-Twist of Pipeline Robot in Elbow[J]. 2011, 45(10): 19-23+29.
DOI：

Body-Twist of Pipeline Robot in Elbow[J]. 2011, 45(10): 19-23+29. DOI：

摘要

为避免管道机器人弯管内运行时发生转体现象而影响管内任务的执行

对机器人转体的原因进行了深入研究.以建立的管道机器人弯管运行的位姿模型为基础

对机器人的受力状况进行了分析

建立了机器人过弯时的转体力矩模型.通过对转体力矩的分析

揭示了管道机器人弯管运行时发生转体的根本原因

并指出了管道机器人弯管运行的最佳姿态角.理论计算表明:当机器人以最佳姿态角运行时

机器人转体力矩几乎为0

不发生转体; 当机器人以其他姿态角运行时

将出现一个不为0的转体力矩

该力矩使机器人向平衡姿态角方向转体

直至机器人姿态稳定为止.在实际应用时

使机器人在平衡姿态角运行为最佳.仿真结果与理论计算基本一致

该研究为人弯管内的姿态稳定运行提供了一定的理论依据.

Abstract

To avoid body-twist affecting the task execution

the mechanism of body-twist when the robot moved in elbow was investigated. Following the pose model of the robot in elbow

the mechanical status of the robot was analyzed

the model of the body-twist torque was established

the essentiality of body-twist was revealed

and the best posture angle of the robot moving in elbow was indicated. The theoretical evaluation shows that the body-twist torque almost disappears and the body-twist afterwards is removed when the robot moving at the best posture angle. While the robot moves at the other posture angle

a nonzero body-twist torque appears which compels the robot to rotate to the balanced posture angle until the robot posture gets stable. The simulation results coincide well with the theoretical analysis.

关键词

Keywords

references

周晓,张晓华,邓宗全,等. 管内作业机器人的发展与展望[J]. 机器人,1998,20(6):471-478.

ZHOU Xiao,ZHANG Xiaohua,DENG Zongquan,et al. The development and prospects of robot working in pipeline[J]. Robot,1998,20(6):471-478.

王殿君,李润平,黄光明. 管道机器人的研究进展[J]. 机床与液压,2008,36(4):185-187.

WANG Dianjun,LI Runping,HUANG Guangming. Progresses in study of pipeline robot[J]. Machine Tool Hydraulics, 2008,36(4):185-187.

唐德威,李庆凯,梁涛,等. 三轴差动式管道机器人机械自适应驱动技术[J]. 机械工程学报,2008,44(9):128-133.

TANG Dewei,LI Qingkai,LIANG Tao,et al. Mechanical self-adaptive drive technology of triaxial differential pipe-robot[J]. Chinese Journal of Mechanical Engineering, 2008, 44(9): 128-133.

邓宗全,陈军,姜生元,等. 六独立轮驱动管内检测牵引机器人[J]. 机械工程学报,2005,36(4):67-72.

DENG Zongquan, CHEN Jun, JIANG Shengyuan, et al. Traction robot driven by six independent wheels for inspection inside pipeline[J]. Chinese Journal of Mechanical Engineering, 2005, 41(9): 67-72.

李鹏,马书根,李斌,等. 具有自适应能力管道机器人的设计与运动分析[J]. 机械工程学报,2009,45(1):154-161.

LI Peng,MA Shugen,LI Bin,et al. Design and motion analysis of an in-pipe robot with adaptability to pipe diameters[J]. Journal of Mechanical Engineering,2009,45(1):154-161.

ROH S G, CHOI H R. Differential-drive in-pipe robot for moving inside urban gas pipelines[J]. IEEE Transactions on Robotics, 2005, 21(1):1-17.

ROH S G, KIM D W, LEE J S, et al. In-pipe robot based on selective drive mechanism[J]. International Journal of Control, Automation, and Systems, 2009, 7(1):105-112.

郭凤,许冯平,邓宗全,等. 管道机器人弯道处驱动力研究[J]. 哈尔滨工业大学学报,2006,38(8):1264-1266.

GUO Feng,XU Fengping,DENG Zongquan,et al. Research on driving force of pipeline robot in elbow of pipeline[J]. Journal of Harbin Institute of Technology,2006,38(8):1264-1266.

孟浩龙,王菊芬. 管内检测机器人在弯管处的通过性能研究[J]. 中国机械工程,2008,19(13):1531-1535.

MENG Haolong,WANG Jufen. Research on the movement trace of in-pipe inspection robot through elbow[J]. China Mechanical Engineering,2008,19(13):1531-1535.

许冯平,邓宗全. 管道机器人在弯道处通过性的研究[J]. 机器人,2004,26(2):155-160.

XU Fengping,DENG Zongquan. Research on traveling-capability of pipeline robot in elbow[J]. Robot,2004,26(2):155-160.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

I/O Performance Modeling and Prediction Method for Large-Scale Parallel Applications Using Machine Learning

Numerical Simulation of Heat-Moisture Barrier Performance of a Horizontal Air Curtain in Cold Storage

Energy Efficiency Optimization of the Cryogenic Air Separation Process for Electronic-Grade Ultra Pure Nitrogen

Numerical Simulation of the Energy Conversion Process in Thermoacoustic Engines with Different Stack Materials

Turbulent Kinetic Energy Dissipation Mechanism of Supercritical Carbon Dioxide Leakage Flow in a Scallop Bionic Seal Cavity

Related Author

No data

Related Institution

No data

⁰