CAJ | 학술논문

针对现有轮腿式管道机器人存在的管径适应能力与运动平稳性之间的矛盾，提出了将折叠式平行四边形机构引入到机器人的轮腿结构中，在保证运动平稳性的前提下，扩大了机器人适应的管径范围。同时，对该机器人的越障能力和变径能力以及弯管内通过性进行了分析计算，并进行了三维建模与运动仿真分析，验证了本设计的合理性与可行性。该机器人具有适应能力强、过弯灵活、攀爬能力强、驱动效率高等特点。
침대현유륜퇴식관도궤기인존재적관경괄응능력여운동평은성지간적모순，제출료장절첩식평행사변형궤구인입도궤기인적륜퇴결구중，재보증운동평은성적전제하，확대료궤기인괄응적관경범위。동시，대해궤기인적월장능력화변경능력이급만관내통과성진행료분석계산，병진행료삼유건모여운동방진분석，험증료본설계적합이성여가행성。해궤기인구유괄응능력강、과만령활、반파능력강、구동효솔고등특점。
The contradiction between the adaptabilty to pipe diameters and motion stability exists in the current wheel-leg pipe-robots. To solve this problem, it wheel-leg unit is equipped with the folded paral elogram mechanism to make the pipe-robot have stronger adaptabilty to pipe diameters and ensure the motion stability perfeclty. Meanwhile, the ability of surmounting obstacles, the adaptabil-ity of ranging diameters and the traveling-capability in elbow are analysed and calculated. Then kinematical simulation and analysis are made on the 3-D model of the pipe-robot, and the rationality and feasibility of this design are verified.This pipe-robot is character-istic of strong self-adaptability, perfect flexibility of turning, strong climbing ability and high drive efficiency.