Analysis And Design Of 3-DOF Parallel-pipe Robot

The pipeline robot can walk into the narrow, bad, dangerous pipeline environments,in which are not suitable for people, to help people to check, text, maintain in pipeline.The existing pipeline robots have lots of limiting factors, most of these robots can onlywalk in the horizontal or inclined pipes, but cannot climb vertically well; they can onlywalk in a particular pipeline, but cannot adapt to the variable diameter pipelines or bendedpipelines well; the traction of most of them is limited.On the basis of current research at home and abroad, in this paper, the author comesup with a new type of leg-peristaltic parallel pipeline robot. This kind of robot is based on3-SPR/RPS parallel mechanism, it has simple and compact structure, large stiffness andbearing capacity, it is easy to control, it can walk in pipes with variational diameter. Thiskind of robot can climb vertically well and it is applicable to the curved pipes with certaincurvature. What’s more, this kind of robot can walk and change direction on the generalground, it can not only automatically walk into the pipeline, but also can return to thepipeline by itself when it walks out of the pipeline. The main research contents of thispaper are as follows:(1)Compared with the advantages and disadvantages of different types of pipelinemobile robots to determine the whole scheme of the pipeline robot, selected the reasonableparallel mechanism as the body of the pipeline robot.(2)Established the 3D model of the robot, analysed its statics property, established thestatics model, made sure the relationship between the leg external force and the robottraction.(3)Analysised its property of movement, established the foot position, velocity andacceleration model of the pipeline robot, to lay the foundation.of controlling the pipelinerobot to walk in the pipeline.(4)The statics model and kinematics model are verified by CAD software, the staticsand kinematics models are correct.(5)Completed the detailed structure design and size optimization of the pipeline robot,analysed the performance of the robot, the expression of traction and walking speed in stright pipelines, driving force in curved pipelines and the ability of passing through thecurved pipes are all calculated.