Modeling And Analysis On The Elbow Passability Of Controllable Speed Pipeline Robot

Pipeline robot is an important tool for pipeline inspection.The curve passage of pipeline robot is the basis of the overall structural size design of the robot.Carrying out the passing ability study of the pipeline robot can effectively avoid the collision between the pipeline robot and the pipeline and the jam at the curve,and ensure the normal operation of the pipeline robot inside the pipeline.Based on the overall design of the controllable speed pipeline robot,the paper studies the curve passing simulation of the pipeline robot,and establishes the mathematical model of the tunnel passing curve based on the geometric transformation.Based on this,the software for cornering analysis of the controllable speed pipeline robot was developed.The content of the thesis includes the following three aspects:1.The design of controllable speed pipeline robot.Based on the investigation,reference and analogy,the overall layout of the controllable speed pipeline robot is proposed.The overall size design of the controllable speed pipeline robot is completed by combining the design of the passing ability and the speed regulation performance.Finally,the prototype design and manufacture are carried out.The research work provides modeling parameters and structures for subsequent corner pass-through simulation analysis.2.Through-rigid rigid-flex analysis of the controllable speed pipeline robot.The rigid and flexible passing ability simulation of the controllable speed pipeline robot at the curve bend was carried out by using ADAMS software and ABAQUS software respectively,and the mechanical behavior of the pipeline robot in the curve was analyzed.The analysis shows that the rigid and flexible model of the cup is used to carry out the passing ability analysis of the pipeline robot,and the error is less than 3%.Therefore,the rigid cup model can be directly used in the robotic design.3.Controlled speed pipeline robot curve passing modeling and software development.Based on the rigid model,the kinematics model of supporting the cup-type controllable speed pipeline robot entering the curve to the whole process through the curve is established,and the model transformation is realized by the coordinate transformation of the rigid body motion.Finally,the pipeline robot and the pipe wall are proposed.Interference solving process.On this basis,the pipeline robot passability analysis software was developed.The research results provide an effective decision-making tool for the structural design of the controllable speed pipeline robot.