The Structure Design And Motion Analysis Of The Tube Walking Robot

Climbing robot is widely used in all kinds of dangerous working environment to replace manual work, Reducing the risk of manual detection and operating costs, so it is becoming in the industrial machinery gradually. According to analysising and researching on the domestic and foreign existing Climbing robot application background, development status and tube environment for a more detailed investigation. In this paper, a new structure design scheme of a new type of Tube walking robot is presented, the robot's biggest advantage is to have other robots that is unmatched flexibility and deformability, it can use the traditional crawling, giving full play to its advantages of multiple degree of freedom, which can across a variety of tubes or obstacles and rotate along the tubes through deformation etc, having a certain degree of innovation and practicality.According to studying the structure of Tube walking robot holding mechanism,modeling and optimization design, building to holding the most compact mechanical structure and the multi-objective mathematical model of output maximum clamping force, ensuring each fulcrum holding mechanism spaced evenly, no movement interference can be smoothly clamping or loosening the tube on the basis of the optimal size.Three dimensional modeling of each part of the connecting mechanism and the connecting part of the joint is carried out. To do a theoretical deduction in the span of the ability and mainly introduces the attitude and attitude planning of the tube walking robot cross the L type and type tubeline, Using ADAMS software to simulate the motion of the L tubeline and the tubeline around the tubeline,verifying the feasibility analysis of crawling across theory, providing guidance and theoretical support for the follow-up control process, to solve the difficulties of the actual test.Basing on ANSYS Workbench to analysising the walking wheel bracket of tube walking robot, To solve the solution of the walking wheel bracket in static pretensioned stress strain and displacement, analysising the walking wheel bracket the finite element modal analysis, providing the basis for the safe and stable mechanical structure.