Movement Performance And Dynamic Simulation Analysis Of Bidirectional Bow Type Robot

With the rapid development of industrial production, pipelines are an indispensable part in industrial production and people's lives. As a means of material transportation, pipelines not only have high efficiency and safety, but also can save cost in production. With the increase of service life, pipelines will face such problems as corrosion and aging, etc. Therefore, pipelines should be repaired and maintained. Because of the restrictions on the geometric shape of pipelines and the particularity of installation space, the manual operation is not only very difficult but also dangerous in a certain degree. So, it is necessary to apply pipeline robots to complete some untouchable work by men.Pipeline robot belongs to the category of special robot, and it is an important branch of robot development at present and even in future. Its research value and application prospect is very promising. The bidirectional bow type pipeline robot introduced in this paper is a kind of robot which is mainly aimed at the circular air duct cleaning operation. This paper is based on the development status of various pipeline robots at home and abroad, summarizes the design form of the current pipeline robot, draws lessons from the functional requirements of products, puts forward the walking mechanism of bidirectional bow type pipeline robot, and carries out some theoretical researches and verification concerning its feasibility.Proceeding with the move qualification of bidirectional bow type pipeline robot, this paper elaborates the choices of pipeline robot's walking mode, walking mechanism and driving device, etc.This study designs the wheeled leg walking mechanism in the form of circular array distribution with 120°space around central axis as well as two sets of wheeled legs of robot unit's front and rear. Moreover, each wheeled leg unit is driven by an independent drive, and the normal direction of wheeled legs is adjustable in order to adapt to tapered pipelines and elbow pipelines.This paper describes the pose model of bidirectional bow type pipeline robot, and establishes the relevant kinematic mathematic model. Through this mathematic mode, this study researches the feasibility of walking inside the different pipelines on the condition of robot unit's different poses.Take the bidirectional bow type pipeline robot as the multi-rigid-body system to establish a dynamic model on the basis of Lagrange method and the virtual prototype model of bidirectional bow type pipeline robot. Apply ADAMS software to make a simulation analysis on the virtual prototype model of bidirectional bow type pipeline robot. Through the simulation analysis, get the best turn passing pose of robot and the change regularity of contact force between the walking wheel and the pipe wall. As a result, the function of pipeline robot's motion process is tried out.The result of virtual prototype model's simulation analysis is basically the same as the theoretical calculation, which can absolutely provide the theoretical basis for the design of bidirectional bow type pipeline robot.