四轮管道机器人的通过性能研究

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针对市政管道的几何特点,以四轮管道机器人在弯道处的数学模型为基础,设计了四轮管道机器人.利用ADAMS软件对机器人进行了弯道通过性能分析,并绘制出了机器人运动的轨迹曲线.仿真分析结果表明,在满足数学模型的情况下,四轮管道机器人能顺利通过弯道,证明了设计的合理性.其中,过渡阶段轨迹曲线上的20mm微小跳动分析也为机器人的驱动控制研究提供了依据. According to the geometrical characteristics of the municipal pipelines,a four-wheel pipeline robot is developed based on the mathematic modeling of the pipeline robot.The performance of the pipeline robot is analyzed by ADAMS when it turns a corner.And the orbit curve of the motion of the four-wheel pipeline robot is drawn out.The results show that the four-wheel pipeline robot could travel the corner smoothly when meeting the mathematic modeling,and the analysis on 20 mm small beating of the curve is made,which may provide scientific basis for the research on driving control.