Research on Structural Design and System Control of Bionic Multi-joint Pipeline Robots
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摘要: 受自然界多关节生物运动机理的启发, 针对当前仿生管道机器人面临的结构紧凑性以及运动速率的问题, 设计一种新型仿生多关节管道检测机器人. 该管道机器人采用多关节串联与可变构型设计, 在保证管道机器人环境适应性的情况下, 提高管道机器人运动速率和结构的紧凑性. 管道机器人在最大伸展状态下的外观尺寸为446 mm×80 mm×71.2 mm (长×宽×高). 通过对管道机器人进行几何通过性分析, 确定其适用的管道范围: 在仅含竖直管的情况下, 适应管径为108 ~ 163 mm; 在仅含水平管且无弯曲段时, 最小适应管径为108 mm; 在含有水平弯曲段时, 最小适应管径增至213 mm, 且对应的最小弯曲半径为26 mm. 开展多种工况下的运动实验, 实验结果表明, 机器人在水平管道中的最大平均运动速度可达 107.5 mm/s, 并能够完成管径适应、翻滚运动、倾斜管道及直角弯管实验, 验证了仿生多关节管道检测机器人方案设计的可行性. 本文所提出的仿生多关节管道机器人为变管径管道检测机器人设计提供了借鉴.Abstract: Inspired by the locomotion mechanism of multi-jointed organisms in nature, aiming at the problems of structural compactness and movement speed faced by current bionic pipeline robots, this paper designs a novel bionic multi-jointed pipeline inspection robot. Adopting a multi-joint series connection and variable configuration design, the proposed pipeline robot improves the movement speed and structural compactness while ensuring its environmental adaptability. The overall dimension of the pipeline robot at the maximum extension state is 446 mm × 80 mm × 71.2 mm (length × width × height). Through the geometric passability analysis of the pipeline robot, its applicable pipeline range is determined. For pipelines with only vertical sections, the adaptable pipe diameter ranges from 108 mm to 163 mm; for straight horizontal pipelines without curved sections, the minimum adaptable pipe diameter is 108 mm; for horizontal pipelines with curved sections, the minimum adaptable pipe diameter increases to 213 mm, with a corresponding minimum bending radius of 26 mm. Motion experiments under various working conditions are carried out. The experimental results show that the maximum average moving speed of the robot in horizontal pipelines can reach 107.5 mm/s. Meanwhile, the robot can realize pipe diameter adaptation, rolling locomotion, and stable movement in inclined pipelines and right-angle bent pipes, which verifies the feasibility of the structural design of the bionic multi-jointed pipeline inspection robot. The bionic multi-jointed pipeline robot proposed in this paper provides a reference for the design of pipeline inspection robots applicable to variable-diameter pipelines.
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Key words:
- pipeline inspection /
- bionic design /
- multi-joint robot /
- variable pipe diameter
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图 5 管道机器人在直线管道中的极限示意图
Fig. 5 Schematic diagram of the limitations of pipeline robots in straight pipelines
图 8 不同管径下管道机器人的状态与翻滚运动
Fig. 8 States and rolling motion of the pipeline robot under different pipe diameters
图 9 水平和倾斜管道工况下管道机器人直线运动实验
Fig. 9 Straight-line motion experiments of the pipeline robot under horizontal and inclined pipeline conditions
图 10 水平和倾斜管道工况下机器人运动实验结果
Fig. 10 Experimental results of robot motion under horizontal and inclined pipeline conditions
表 1 不同仿生多关节管道机器人对比分析
Table 1 Comparative analysis of different bionic multi-joint pipeline robots
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表 2 D-H参数
Table 2 D-H parameter
$i $ $a_i $ $d_i $ $\theta _i $ 1 $l_1 $ 0 $\theta _1 $ 2 $l_2 $ 0 $\theta _2 $ 3 $l_3 $ $d_3 $ $\theta _3 $ 4 $l_4 $ 0 $\theta _4 $ 5 $l_5 $ $d_5 $ $\theta _5 $
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表 3 管道弯曲半径和管道内直径计算结果 (mm)
Table 3 Calculated results for pipe bending radius and inner diameter (mm)
参数 $l_{\max} $ $a_{\max} $ $R_{\min} $ 143.0 25.61 $D_{\min} $ 235.4 212.33
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