Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism

Zihan Jin; Yu Hou; Qiang Wang; Wei Sun

doi:10.16578/j.issn.1004.2539.2021.11.015

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Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism

Design· Calculation | 更新时间：2022-11-10

- Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 11, Pages: 92-98(2021)
- 作者机构：
  
  1.武汉科技大学冶金装备及其控制教育部重点实验室，湖北武汉 430081
  2.武汉科技大学机器人与智能系统研究院，湖北武汉 430081
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.11.015
  CLC：
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金子涵,侯宇,王强等.基于变胞机构的仿生爬管机器人结构设计与力学分析[J].机械传动,2021,45(11):92-98.

Jin Zihan,Hou Yu,Wang Qiang,et al.Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism[J].Journal of Mechanical Transmission,2021,45(11):92-98.
金子涵,侯宇,王强等.基于变胞机构的仿生爬管机器人结构设计与力学分析[J].机械传动,2021,45(11):92-98. DOI： 10.16578/j.issn.1004.2539.2021.11.015.

Jin Zihan,Hou Yu,Wang Qiang,et al.Structure Design and Mechanical Analysis of Bionic Pipe-climbing Robot based on Metamorphic Mechanism[J].Journal of Mechanical Transmission,2021,45(11):92-98. DOI： 10.16578/j.issn.1004.2539.2021.11.015.

摘要

现有的爬管机器人在设计时常侧重于适应性、越障能力和负载能力的某一方面，无法同时满足实际作业中对各方面性能的综合需求。为此，基于仿生学原理和变胞理论设计了一种新型爬管机器人，兼具适应性、越障能力和负载能力三方面的性能。建立了变胞手爪和机器人整体的静力学模型，分析了机器人在3种状态下所需的手爪夹紧力和足部摩擦力；设计了爬管机器人在竖直攀爬和翻转运动时的步态，并基于Adams对爬管机器人进行了运动学和动力学仿真，得到爬管过程中夹紧力以及摩擦力的变化规律；实现了机器人在管道上的稳定运动，验证了机器人结构设计及力学模型的正确性。

Abstract

The design of the existing pipe-climbing robot often focused on adaptability，obstacle climbing ability and load capacity，which cannot meet the comprehensive requirements of all aspects of performance in the actual operation. Therefore，based on the bionics theory and the metamorphic theory，a new kind of pipe-climbing robot is designed，which has the performance of adaptability，obstacle climbing ability and load capacity. The static models of the metamorphic grippers and the robot are established，and the gripper force and the friction force of the foot are analyzed under three conditions. The gait of climb in the vertical pipe robot climbing and flip movement is designed，and based on the Adams，pipe-climbing robot kinematics and dynamics simulation are analyzed. The clamping force and the friction force in the process of climbing pipe change rule is obtained. And the stability of the robot in the line movement is realized. Therefore the correctness of the structure design and mechanics model of the robot is verified.

关键词

变胞手爪爬管机器人力学分析运动稳定性

Keywords

Metamorphic gripperPipe-climbing robotMechanical analysisMotion stability

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