The Dynamics Analysis And Control Of Pipeline Robot's Moving Platform

With the economic development of our country, the pipes have been applied widely in the production and people's daily life. Damage, leakage, rupture and other phenomena are inevitably caused to pipes because of long-term usage. Therefore, the maintenance of the pipeline is in an urgent need to be solved. But in some cases, people are unable to carry out the maintenance and repairing directly. As a result of that, a kind of machine is needed to work in place of people. And here comes the pipeline robots.The actuating mechanism of the pipeline robots-movement platform acts as the research background. The platform for the physical model is established by simplifying the mechanism. The static mechanical formula is listed by the principle of virtual displacement. When the platform is under outside force, the stress status of the pole can be also solved.Through the parameter analysis of its platform mechanism, kinematical model, the location inverse and speed inverse formula are established. The Lagrange method is used to establish the dynamic model and deduce the different stresses and solving methods in different locations.The driving motor of the mechanism is selected through combining the solving results of the dynamic and static formula and the mechanism moving requirements. The controlling process of the motor is analyzed. The single-chain is controlled by the closed-loop so that the moving accuracy of the upper platform can be improved. The physical model and its transfer function of the branched-chain are established based on the mechanism parameters of the branched-chain. The stability property analysis, error analysis and the error compensation of the system can be carried out by the use of transfer function.The virtual prototype modeling can be done by using ADAMS software and the dynamics and kinematics simulation is carried out to the mechanism. The input and output curves of the kinematics and dynamics can be obtained through the simulation to the specific examples. In the way of curves analysis, this platform mechanism is proved to operate steadily, meet the design requirement and have a good ability of dynamic performance.