Pipeline Cleaning Robot Manipulator Of Kinematics And Reliability Analysis

For cleaning operation in gas pipeline of metal production plant,consulting with the development and trends of modern pipeline robot at home and abroad,the thesis designs the structure for pipeline deashing robot,puts forward to the structure of,crawler-type pipeline of cleaning robot and set up robot model with three-dimensional software Pro/E.Do kinetic simulation for the robot with software-ADAMS,obtain every joint force of robot model,do statics analyse for structure of robot motion arm with software-ANSYS,and then do reliability analyse for the motion arm.Firstly,according to the request of cleaning operation in gas pipeline of metal production plant,this thesis proposes structure of crawler-type propulsion and motion arm with six robs,sets up the model with software-Pro/E, doing kinetic simulation for the robot with software-ADAMS,and obtain every joint force of robot model.Secondly,doing simulation and statics analysis for motion arm of pipeline cleaning robot with software-ANSYS Workbench,identifies the rationality of design for robot motion arm.Finally,under the condition of 95% confidence,do reliability analysis for the motion arm,gain probability is 4.037% with the limit state equation of Z<0,gets the confidence level of motion arm is 95.963%,and then identify the feasibility of design for robot motion arm.