蛇形供水管道机器人头部结构设计与运动学分析

Structural Design and Kinematics Analysis of Snake-shaped Water Supply Pipeline Robot Head

摘要:

管道机器人被广泛应用于管道检测领域,为适应小口径带压供水管网的检测,设计了一种小体型的蛇形管道机器人头部结构,不仅有着良好的防水抗压效果,且该结构引入连续体机器人的特点,采用绳驱柔性体和关节旋转的配合动作来进行姿态变换,使得机器人头部运动更加灵活,能够在150mm-300mm的小口径自来水管道中自由移动,有着广泛的可达任务空间；运用等效D-H方法建立机器人的运动学模型,计算出其正、逆解析表达式,并使用蒙特卡罗法在Matlab中绘制出机器人头部的可达任务空间图,最后将设计的虚拟样机模型在Adams仿真软件中进行仿真分析；运动学分析和虚拟样机模型的仿真分析结果表明,所提设计方案合理可行,满足应用设计需求。

Abstract:

Pipeline robots are widely used in the field of pipeline inspection. In order to adapt to the inspection of small-diameter pressurized water supply pipe networks, a small serpentine pipe robot head structure is designed. The structure not only has a good waterproof and compression resistance effect, but also introduces the characteristics of a continuum robot. It adopts the coordinated action of the rope-driven flexible body and the joint rotation to perform attitude transformation, which makes the robot head movement more flexible, and can be used in the range of 150mm-300mm. It can move freely in small-diameter water pipes, and has a wide range of accessible task space. Use the equivalent D-H method to establish the kinematic model of the robot, calculate its positive and inverse analytical expressions, and use the Monte Carlo method to draw the reachable task space diagram of the robot head in Matlab. Finally, the designed virtual prototype model is simulated and analyzed in Adams simulation software. Kinematics analysis and the simulation analysis results of the virtual prototype model show that the proposed design scheme is reasonable and feasible, and meets the application design requirements.