摘要
针对压差驱动式管道机器人多柔体系统与管内流体的流固耦合问题,基于耦合的欧拉-朗格朗日(CEL)方法建立了机器人系统流固耦合模型,获得了机器人在复杂管道内运行时的结构动力响应。对比分析了不同管道内径和机器人舱段长度下的密封皮碗应力场、管道与机器人间的摩擦力和流体对管道机器人的驱动压差。数值结果表明,管道机器人进入管道初期驱动压差出现峰值,随着机器人运动速度的波动和管道拓扑的改变,驱动压差再次出现峰值。管道机器人位于小曲率半径弯道时,密封皮碗经历强烈的局部化挤压作用形成峰值等效应力,但是,由于密封皮碗与弯道的间隙引起摩擦力降至谷值。此外,随着管道内径的减少,密封皮碗的等效应力、平均摩擦力以及平均驱动压差增大;舱段长度增加,密封皮碗的等效应力、平均摩擦力以及平均驱动压差随之增大。
Aiming at the problem of fluid-structure interaction between flexible multi-body system of an in-pipe robot driven by pressure difference and pipe’s internal flowing fluid,the robot system’s fluid-structure interaction dynamic model was established based on the coupled Euler-Lagrange(CEL)approach to obtain structural dynamic responses of the robot operating in the complicated pipe.Stress field of sealing cup,friction between pipe and robot,and driving pressure difference exerted on robot by fluid under different pipe internal radius and robot segment length,respectively were analyzed contrastively.The numerical results indicated that peak driving pressure difference appears during robot initially entering pipe and reappears with fluctuation of robot motion velocity and change in pipeline topology;when robot is at pipe’s small curvature radius bend,sealing cup experiences strong localized squeeze to form peak equivalent stress,but friction drops to vale value due to clearance between sealing cup and bend;with decrease in pipe’s inner radius,equivalent stress of sealing cup,average friction and average driving pressure difference increase;with increase in robot segment length,equivalent stress of sealing cup,average friction and average driving pressure difference increase.
作者
江旭东
孙其海
滕晓艳
JIANG Xudong;SUN Qihai;TENG Xiaoyan(School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China;College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China)
出处
《振动与冲击》
EI
CSCD
北大核心
2019年第23期259-264,270,共7页
Journal of Vibration and Shock
基金
国家自然科学基金(51505096)
黑龙江省自然科学基金(E2015026)
关键词
压差驱动式管道机器人
CEL方法
动力特性
流固耦合
有限元法
in-pipe robot driven by pressure difference
coupled Euler-Lagrange(CEL)approach
dynamic characteristics
fluid-structure interaction
FEM
