Structural Parameters Design And Motion Characteristics Analysis Of Pipe Robot

Industrial pipe are often difficult to detect and repair due to the narrow space and the high risk,and the pipe robot just solved the problem.The purposes of this paper is to design a pipe robot what is suitable for the specific environment and study its design method of structure and motion characteristics in order to improve the motion performance of pipe robot based on the project "Research on key technology of pipe robot.In this paper,firstly,the motion classification and configuration of the robot are summarized,and the basic configuration of the robot is designed.Based on genetic algorithm,a method of robot structural parameter design is proposed,and the optimal structure parameters of the robot are obtained.The process includes:establish function relationship between structure parameters of the robot and environment parameters,transform the multi-objective optimization problem into a Goal Programming,use MATLAB genetic algorithm toolbox GATBX to solve model to obtain the optimal solution of the multi-objective programming problem,and obtain the optimal structure parameters.In order to investigate the motion characteristics of the robot in a particular environment,in this paper,the kinematic analysis of the pipeline robot is carried out by homogeneous transformation method.Including:the robot pose model,robot pose analysis,robot velocity analysis,and the velocity is solved by using MATLAB least square method,then use the polynomial fitting method to get the velocity function of pipe robot.Then the robot dynamics simulation platform is built with Adams software,and the dynamic simulation analysis is carried out to verify the rationality of the structural parameters of the robot and the correctness of the analysis of the motion characteristics of the robot.Third,based on the analysis of robot configuration design,structural parameters optimization and motion characteristics,the detailed mechanism design of the robot is completed,and the components of the robot control system are introduced briefly,the robot prototype is completed.At last,the performance of the robot prototype is verified by experiments.Including;basic motion experiment,water-proof performance test and comprehensive performance test.Through experiments,it is proved that the design and analysis method of pipe robot proposed in this paper is feasible.