Construction Design And Kinematics Analysis For The Three Legs Type Piping Robot

As a special type of working robot, Inspection and detection in pipelines, robot is applied for dredge and detection in pipelines. At present it has almost not be used in this areas. And the foreign product's cost quite expensively. With the need of the country, the research and development of the knowledge property right of the pipeline robot has a signality.At first, the author systematically overviews the developing situation of various types of the pipeline robot and modern application research technology at home and abroad, and puts forward the structure scheme which adopts the three wheeled leg type. The paper also designs the structure which is made up of drive equipment, wheeled leg mechanism, and dummy mechanism.This design proposes the mechanics and kinematics of the analysis of the robot. Proceed with the robot's move qualification, analyze and study the dynamics problem of the robot at the turning. And set up the kinematics model of the robot.The paper designs the three wheeled leg mechanisms for steering with differential-drive wheels, arranged three-dimensionally, allows it to adapt to the existing configurations of pipelines, such as straight pipelines, elbows, and branches. After carrying out the analysis for the robot in elbow pipeline, mathematical descriptions of its constraint geometries are presented.Systematically it discusses a mathematic model to describe the traveling capability of pipeline robot in elbow is presented. The various elbows(degree, arts and crafts, graduation) and poses, segment geometric dimensions and driving wheels structure when the pipeline robot is in elbow have different influence degree on traveling capability in elbow. The mathematic model shows clearly a relation between these. It is a groundwork of autonomous navigation strategy design and relevant structure design of pipeline robot in elbow.At last, it uses virtual prototype technology to build a robot model and simulation of wheeled leg mechanism. The reference data of the physical prototype can be provided. Further more it laid a foundation for the design of control and test system and the thorough study.