| The article introduces the Stewart parallel mechanism to in-pipe parallel robot moving-technology, and how to adapt to the complex environment.Given description of position and orientation of 6-DOF in-pipe parallel robot, Make a study of the interference between the drive rods, the interference between the pipe and the drive rods, robot-step algorithm, and the scope of work the ball hinge.For example, the upper platform is a moving platform. Given the expression on kinetic energy of the platform, and the upper and lower platform's potential energy, based on ignoring the angular velocity of the six driver rods, established kinetic energy and potential energy of the six driven rods.Established the virtual prototype model of the 6-DOF in-pipe parallel robot, and analysed its supporting legs by the finite element method, the result is that the maximum load is 300N.Application of ADAMS to the 6-DOF in-pipe parallel robot kinematics simulation, has trajectory functions of the upper and lower platforms and the curves on ball hinge angle. Laid the foundation for structural design of 6-DOF in-pipe parallel robot. In the 300N load conditions Through dynamic simulation, have determined the driving force curves when the 6-DOF in-pipe parallel robot through the entire pipe, and the maximum drag power and the maximum walking speed, all of these provide a strong basis for the choice of drive and motion control and massive basis for the physical prototype established. |
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