机械制造与自动化Issue(5)：158-161,4.
折叠轮腿式管道机器人结构设计与仿真分析
Structure Design and Simulation Analysis of Self-adaptive Pipe-Robot
摘要
Abstract
The contradiction between the adaptabilty to pipe diameters and motion stability exists in the current wheel-leg pipe-robots. To solve this problem, it wheel-leg unit is equipped with the folded paral elogram mechanism to make the pipe-robot have stronger adaptabilty to pipe diameters and ensure the motion stability perfeclty. Meanwhile, the ability of surmounting obstacles, the adaptabil-ity of ranging diameters and the traveling-capability in elbow are analysed and calculated. Then kinematical simulation and analysis are made on the 3-D model of the pipe-robot, and the rationality and feasibility of this design are verified.This pipe-robot is character-istic of strong self-adaptability, perfect flexibility of turning, strong climbing ability and high drive efficiency.关键词
管道机器人/运动平稳性/折叠式机构/仿真分析Key words
pipe-robot/motion stability/floded mechanism/simulation analysis分类
信息技术与安全科学引用本文复制引用
周志鹏,代小林,张彬彬,姚善建,礼强..折叠轮腿式管道机器人结构设计与仿真分析[J].机械制造与自动化,2014,(5):158-161,4.基金项目
中央高校基本科研业务费专项资金资助( No:ZYGX2012J106) （ No:ZYGX2012J106）
