柔性蠕动管道机器人的牵引力及软轴结构稳定性分析

Traction Force and Flexible Shaft Stability Analysis of Flexible Squirming Pipe Robot

  • 摘要: 为解决柔性蠕动管道机器人的运动控制问题,提高机器人管内行走效率,对一种具有导向头和刹车轮结构的柔性蠕动管道机器人进行了深入分析和研究.通过对机器人进行管内受力分析,建立起机器人的牵引力模型;为提高机器人在不同管道环境中的运动性能,对软轴结构的运动稳定性进行了分析,提出了机器人蠕动运动失稳的概念,并采用长柱体的稳定性理论进行分析,推导出机器人在直管和L型管道中的临界失稳条件,为柔性蠕动管道机器人步距规划提供了理论依据.搭建管道实验环境进行机器人的牵引力和行走实验,测试值与理论分析基本一致,说明柔性蠕动管道机器人具有优良的牵引能力,行走过程中的运动失稳现象也验证了软轴临界失稳理论的正确性.

     

    Abstract: In order to solve the motion control problems of flexible squirming pipe robots and improve squirming efficiency in pipes, a flexible squirming pipe robot with structures of guide head and brake wheels is studied. A model of traction force is built through mechanics analysis of the robot in pipeline. In order to improve moving performance in different pipeline environments, the motion stability of the flexible shaft is analyzed, and the concept of the robot squirming motion instability is proposed. By using stability theory of cylinder, critical instability conditions of the flexible shaft in straight pipes and L-shaped pipes are derived, which provides theoretical basis for the robot's step planning. The pipeline experimental platform is built to accomplish experiments of traction force and moving. The test results are consistent with the theoretical analysis, which shows that the robot possesses outstanding traction ability, and the instability during moving process also verifies the correctness of the theory of flexible shaft critical instability.

     

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