In order to solve the problem that the wheeled pipeline robot has insufficient ability to overcome obstacles in the pipeline, an active obstacle avoidance pipeline robot is designed, and dynamic simulation analysis is carried out by ADAMS. Firstly, the structure principle and motion characteristics of the pipeline robot are analyzed. Then, ADAMS is used to build a virtual prototype to simulate the obstacle avoidance ability, straight travel ability and bending ability of the pipeline robot. The simulation results show that the pipeline robot can automatically adapt to the diameter of 148-152 mm; the minimum turning radius can be 304 mm; it can realize the active obstacle avoidance in the pipeline and has good dynamic characteristics.
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郭忠峰,辛 鹏. 主动避障式管道机器人结构设计及动力学仿真[J]. 科学技术与工程, 2020, 20(23): 9349-9353. GUO Zhong-feng, XIN Peng. Design and Dynamic Simulation of an Actively Obstacle-Avoiding Pipeline Robot[J]. Science Technology and Engineering,2020,20(23):9349-9353.