面向矩形管道的管道机器人自适应调节机构的研究

摘要

根据管道机器人管内适应性的要求,提出一种面向矩形管道的新型自适应调节机构的设计方案.分析该机构的工作原理、力学特性,建立其数学模型并进行仿真分析.仿真结果表明:该机构提高了管内机器人对矩形管道的适应性,并改善了牵引能力,为机构参数的合理选取提供了科学依据.%The project of a new type of self-adaptive adjusting mechanism was presented according to the requirement of pipeline adaptability of robot in rectangular pipeline. The math model was developed through detailed description and analysis for the mechanism. Simulation was carried out. The simulation results show that using the mechanism, pipeline adaptability of robot for rectangular pipeline and towing capability are improved. It provides basis for reasonable choice of self-adaptive adjust mechanism parameters.