机器人2025，Vol.47Issue(5)：657-667,11.DOI:10.13973/j.cnki.robot.240140
履带式管道机器人的弯管通过性研究
Research on the Passability of Tracked Pipeline Robot in Bending Pipes
刘城 1孙永站 1李军 1田哲2
作者信息
- 1. 北京理工大学,北京 100081||北京理工大学长三角研究院(嘉兴),浙江嘉兴 314001
- 2. 北京理工大学,北京 100081||北京理工大学重庆创新中心,重庆 401135
- 折叠
摘要
Abstract
For the impact of track parameters on the passability of pipeline robots,the cornering principle of pipeline robots is investigated.Firstly,a multi-parameter rectangular robot model is established based on the traditional cylindrical robot model,to study the influence of track length and width on the passability.Then,both the robot and pipeline structures are parameterized,the cornering motion is analyzed based on geometric constraints,and motion control laws during cornering are summarized.Finally,a pipeline robot model is developed by SolidWorks 3D modeling software,and the actual motion process of robot is simulated by Webots simulation software.Comparative analysis between simulation results and theoretical calculations verify the correctness of the analysis and rationality of the structural design.The research results demonstrate that this study provides theoretical support for both structural design and control strategies of four-axis tracked pipeline robots.关键词
履带式管道机器人/弯管通过性/运动学仿真/过弯策略Key words
tracked pipeline robot/passability in bending pipe/kinematics simulation/cornering strategy引用本文复制引用
刘城,孙永站,李军,田哲..履带式管道机器人的弯管通过性研究[J].机器人,2025,47(5):657-667,11.
