Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process

Wang Xiaolei; Yin Bowen; Li Xiaodan

doi:10.16578/j.issn.1004.2539.2023.06.014

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Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process

Test·Analysis | 更新时间：2023-08-14

- Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process
- Journal of Mechanical Transmission Vol. 47, Issue 6, Pages: 94-99(2023)
- 作者机构：
  
  辽宁工业大学机械工程与自动化学院，辽宁锦州 121001
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.06.014
  CLC：
- Published：15 June 2023，
  
  Received：22 April 2022，
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王晓磊,尹博文,李晓丹.多节式管道机器人转弯过程的稳定性分析与仿真[J].机械传动,2023,47(06):94-99.

Wang Xiaolei,Yin Bowen,Li Xiaodan.Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process[J].Journal of Mechanical Transmission,2023,47(06):94-99.
王晓磊,尹博文,李晓丹.多节式管道机器人转弯过程的稳定性分析与仿真[J].机械传动,2023,47(06):94-99. DOI： 10.16578/j.issn.1004.2539.2023.06.014.

Wang Xiaolei,Yin Bowen,Li Xiaodan.Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process[J].Journal of Mechanical Transmission,2023,47(06):94-99. DOI： 10.16578/j.issn.1004.2539.2023.06.014.

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。

Abstract

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 process of the robot is explored. Based on the pose model in the pipe bend of the pipe robot

the position and velocity of the contact point between the robot and the pipe are solved. Firstly

the turning process of the robot is briefly 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 foundation for the continuous and stable control of robot turning process.

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

Keywords

Pipeline robotTurning processStability analysisAttitude angleSimulation verification

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