Research On Obstacle-performance Of Articulated-track Inspection Robot Under Complex Environment

Small mobile robots have the advantages of small size,high barrier performance,and high flexibility.Therefore,It is playing an increasingly important role in many operational tasks such as patrols and rescues in response to many operating environments with high risk factors and difficult operations.In the face of a complex environment,whether the robot can smoothly enter a designated operation position and complete the task is the focus and difficulty of the inspection work.Therefore,this article mainly focuses on the special environment of the factory,and designs an articulated crawler inspection robot.By establishing a kinematics model and a dynamics model of the obstacle obstacle of the robot,it analyzes that the robot overturns the circular pipe obstacle,the boss,and the narrowness and steepness.Obstacle obstacles such as staircases,and the dynamic stability of robots during obstacles.In this paper,firstly,a small-sized,convenient contraction joint crawler inspection robot is designed for the characteristics of small space,multiple tube obstructions,and narrow and steep steel stair structure.The structure design of the inspection robot and the composition of the control system are introduced.The movement process of the robot,such as walking and steering,is analyzed.The feasibility of the robot joint rocker arm assisting the robot to overcome obstacles is checked,and the robot is provided with reliable protection for obstacles.A kinematics model of the robot's center of mass was established to analyze the relationship between the position of the center of mass of the robot and the obstacle performance,and the change law of the position of the centroid of the robot in the process of obstruction of the robot with elevation angle and joint posture was found.The robot over the circular tube obstacle and the vertical boss were found.Obstacle movement planning was carried out and the maximum feasible height of the robot's obstacles was found.In order to ensure that the robot does not experience accidental instability during the inspection work,focusing on the two special obstacles of the circular pipe and the staircase structure,an articulated inspection robot is established to positively climb the circular pipe obstacles and reversely climb the stairs obstacles.The dynamic stability analysis model analyzes the influence of the speed and acceleration of the robot's obstacle obstruction on the dynamic stability of the obstacleobstacle process,and gives the corresponding dynamic stability discrimination criteria.Finally,imitating unconventional obstacles in a factory environment,an experimental platform was set up,obstacle-passing experiments and obstacle-obstacle stability experiments were performed on the inspection robot.Through experimental analysis,it was verified that the theoretical analysis and action planning of the paper were feasible.