Pipeline Cleaning Robot Structural Design And Kinematics Simulation

Based on clearing work in exhaust gas pipeline of the metal smeltery, the plan of design of in-pipe clearing gray tracked robot is put forward in the paper, the structural design and kinematics analysis of the robot is completed. Utilizing three-dimensional parameter modeling software Pro/E, the prototype of this robot is set up, utilizing mechanical system dynamics simulation software ADAMS, simulation on organization and kinematics of the robot is run. And Real motion state of the robot is simulated, through simulation analysis, seek the rational structure of in-pipe clearing gray tracked robot, have verified the rationality of the scheme and structural design.In this paper:1 Robot technology of pipeline and domestic and international current situation of the development trend is briefly introduced. The plan of design of the in-pipe clearing gray tracked robot in the subject is put forward.2 By utilizing Pro/E software, the clear gray based on characteristic parameter model of in-pipe robot and prototype of this robot is set up.3 In term of studying in the organization that displacement, speed, acceleration of the operator arm of in-pipe clearing gray robot, etc. is analysed.4 Through Mechanism/Pro module the prototype of the robot is imported to ADAMS software, based on ADAMS simulation model is set up, the simulation is run, simulation plot is outputted. It verifies the rationality and exactness of the scheme and structural design of the in-pipe clearing gray robot and lays a solid foundation for the follow-up study of the robot.