| 螺旋轮式管道检测机器人越障性能研究 |
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| 引用本文： | 刘星,李著信,苏毅,王世炜.螺旋轮式管道检测机器人越障性能研究[J].后勤工程学院学报,2009,25(4):29-33. |
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| 作者姓名： | 刘星 李著信 苏毅 王世炜 |
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| 作者单位： | 后勤工程学院,军事供油工程系,重庆,400016 |
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| 基金项目： | 总后勤部军需物资油料部资助项目 |
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| 摘 要： | 建立了一种螺旋轮式管道检测机器人驱动系统的三维模型，对驱动系统通过凸台和三通的能力进行了动力学分析。研究了预紧弹簧刚度和预紧力对螺旋轮过凸台能力的影响，讨论了过三通时的几何约束和动力学约束条件，并通过算例分析，验证了模型的正确性。
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| 关 键 词： | 管道机器人 越障性能 弹簧刚度 预紧力 |
Research on Obstacle Clearing Capabilities of Pipe Inspection Robot with Screw Motion |
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| LIU Xing,LI Zhu-xin,SU Yi,WANG Shi-wei.Research on Obstacle Clearing Capabilities of Pipe Inspection Robot with Screw Motion[J].Journal of Logistical Engineering University,2009,25(4):29-33. |
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| Authors: | LIU Xing LI Zhu-xin SU Yi WANG Shi-wei |
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| Institution: | Dept.of Petroleum Supply Engineering;LEU;Chongqing 400016;China |
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| Abstract: | The Driving system＇ s 3D model of pipe inspection robot with screw motion is built. The dynamic analysis of the Driving system＇ s capability of crossing the lug boss and T-joints in pipe is made. The relationship between lug boss crossing ability and both preloaded spring＇ s rigidity and pretightening force are studied. The geometric constraint and dynamics constraint when passing T-joints are discussed. Then, the models are analyzed and validated according to the calculating examples. |
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| Keywords: | pipe robot obstacle clearing capabilities spring＇ s rigidity pretightening force |
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