摘要
针对多节式管道机器人在转弯过程中接触点速度发生突变,影响机器人运动稳定性的问题,对机器人转弯过程进行了探究。以管道机器人弯管中的位姿模型为基础,对机器人与管道接触点的位置与速度进行求解。首先,对机器人转弯过程进行简单描述;其次,建立管道机器人在弯管中的位姿模型并求解机器人与管道接触点的位置;然后,对机器人的速度进行分析,找到机器人速度不发生突变的姿态角度;最后,通过Matlab数值求解与Adams仿真,验证了结论与求解过程的正确性,为机器人转弯过程中的控制奠定了基础。
Aiming at the problem that the speed of the contact point of the multi-section pipeline robot changes abruptly during the turning process,which will affect the stability of the robot′s motion,the turning pro⁃cess of the robot is explored.Based on the pose model in the pipe bend of the pipe robot,the position and veloci⁃ty of the contact point between the robot and the pipe are solved.Firstly,the turning process of the robot is brief⁃ly described;secondly,the pose model of the pipeline robot in the pipe bend is established and the position of the contact point between the robot and the pipeline is solved;then the speed of the robot is analyzed to find the attitude angle where the speed of the robot does not change suddenly.Finally,the correctness of the conclusion and the solution process is verified by the Matlab numerical solution and Adams simulation,which lays a founda⁃tion for the continuous and stable control of robot turning process.
作者
王晓磊
尹博文
李晓丹
Wang Xiaolei;Yin Bowen;Li Xiaodan(College of Mechanical Engineering and Automation,Liaoning University of Technology,Jinzhou 121001,China)
出处
《机械传动》
北大核心
2023年第6期94-99,共6页
Journal of Mechanical Transmission
基金
辽宁省科学技术基金项目(2019-ZD-0689)
辽宁省高等学校科学技术研究项目(JL201615402)。
关键词
管道机器人
转弯过程
稳定性分析
姿态角度
仿真验证
Pipeline robot
Turning process
Stability analysis
Attitude angle
Simulation verifica⁃tion
