管道机器人在三通处的通过性分析

三通是管道机器人经常遇到的典型障碍之一,克服该障碍的能力用管道机器人在三通处通过性来描述。文中提出一种描述差压驱动式管道机器人三通通过性的数学模型,该模型由一组组合约束构成。通过对约束方程的分析讨论、与管道机器人弯道通过性的对比分析,得出了规律性的结论。管道机器人在三通处的姿态、单元体的几何尺寸、行走轮结构形式对其通过性都有不同程度的影响。所提出数学模型是管道机器人三通自主行走控制策略设计和相应结构设计的理论基础。

Research on Traveling-capability of Pipeline Robot Driven by Differential Pressure Liquid in T-joint

T-joint is one of the representative obstacles pipeline robot often falls across. Traveling-capability in T-joint is described the ability to get over this kind of obstacle. A mathematical model to describe the traveling-capability of pipeline robot in T-joint is presented, which is composed of a set of constraint equations. The equations are discussed,the analysis is compared with traveling-capability in elbow and the regular conclusions are driven. The pose, segment geometric and driving wheels structure when the pipeline robot is in T-joint have different influence degree on traveling-capability in T-joint. The mathematical model is the academic groundwork of autonomous navigation strategy design and relevant structure design of pipeline robot in T-joint.