[1]黎华,倪进飞,杨波.自适应锅炉管道检测机器人的越障性能研究[J].机械与电子,2017,(08):72-76.[doi:1001-2257(2017)08-0072-05]
　LI Hua,NI Jinfei,YANG Bo.Research on the Obstacle Surmounting Performance of the Self-Adaptive Pipe Robot[J].Machinery & Electronics,2017,(08):72-76.[doi:1001-2257(2017)08-0072-05]
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自适应锅炉管道检测机器人的越障性能研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年08期
页码:
72-76
栏目:
智能工程
出版日期:
2017-08-25

文章信息/Info

Title:
Research on the Obstacle Surmounting Performance of the Self-Adaptive Pipe Robot
作者:
黎华; 倪进飞; 杨波
(广州特种承压设备检测研究院,广东 广州 510663)
Author(s):
LI Hua;  NI Jinfei;  YANG Bo
(Guangzhou Special Pressure Equipment Inspection and Research Institute, Guangzhou 510663, China)
关键词:
自适应管道机器人;  ADAMS;  越障能力;  越障仿真试验
Keywords:
self-adapting pipe robot;  ADAMS;  obstacle surmounting ability;  obstacle surmounting simulation test
分类号:
TP242.2
DOI:
1001-2257(2017)08-0072-05
文献标志码:
A
摘要:
针对电厂锅炉管道内移动作业机器人的越障策略及其运动控制,选择环形台阶这种管道中的典型障碍,建立了跨越台阶型障碍时的机器人力学模型,分析其最大越障能力。利用SolidWorks建立机器人的三维模型,将模型导入ADAMS中建立其仿真模型; 进行针对不同台阶高度的越障仿真试验,分析越障过程中履带足电机输出力矩、自适应机构的弹簧力等参数的变化规律。结果表明:机器人的主体质心在越障过程中始终与管道轴线重合,3个履带足质心时刻围绕机器人主体质心对称变化; 随着台阶高度的增加,机器人电机力矩和弹簧力呈正相关上升,最大能
Abstract:
According to the obstacle surmounting strategy and motion control of mobile robot in power plant boiler pipeline, a robot mechanical model is built aiming at crossing the circular step, the typical obstacle in the pipeline. In addition, the maximum obstacle surmounting ability is analyzed. In the research, firstly build a 3D model of the robot by SolidWorks, which was imported to ADAMS to build simulation model; Then, conduct the obstacle surmounting simulation test with different step heights; Finally analyze changing rules of the parameters such as the output torque of track motor and the spring force of the self-adaptive machine during the obstacle surmounting period. The results show that, the main body center of the robot keeps coincident with the axis of the pipe during the course of obstacle surmounting; the centroid of three crawler feet is symmetrical around the main body center of the robot; and the motor torque and the spring force of the robot are positively correlated with the increase of the step height, and the maximum height surmounted by the robot is 23 mm.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2017-04-26
作者简介：黎华（1964-），男，广西博白人，教授级高工，研究方向为特种承压设备检验检测及失效分析；倪进飞（1971-），男，安徽无为人，高级工程师，研究方向为电站锅炉检验检测及失效分析；杨波（1983-），男，湖南益阳人，高级工程师，研究方向为特种承压设备安全节能及系统性风险分析。
更新日期/Last Update: 2017-08-25