Study On Motion Characteristics And Trajectory Planning Of Bionic Tube Climbing Robot

In chemical,steel and other production fields,a large number of pipeline requires periodic inspection,cleaning and maintenance.Manual work is onerous and dangerous.Existing pipe-climbing robots cannot meet the high requirements of adaptability,load capacity and obstacle surmounting ability in practical operation.Therefore,it is of great significance to develop a tube climbing robot which can replace or assist human work well.In this paper,by imitating the climbing posture of the simian,a kind of bionic tube climbing robot with metamorphic grippers is designed,and its kinematics,mechanics and trajectory planning are studied.The main research work are as follows:1.By analyzing the structure and gait of out-of-pipe climbing robots at home and abroad,a bionic pipe-climbing robot with metamorphic grippers was designed.By virtue of the variable freedom characteristics of hand claws and the coordination of upper limbs and feet,it could adapt to pipes with different diameters and surface conditions and had good stability.2.A calculation model of the contact force of the metamorphic gripper was established.An experimental method was proposed to analyze and compare the contact force of the gripper with the contact force results of the whole robot simulation,which laid a foundation for the accurate control of the clamping force of the robot gripper.3.The main motion joints of the robot were extracted to simplify the kinematics analysis process.A robot trajectory planning method based on time optimization principle and particle swarm optimization algorithm were proposed to obtain the optimal motion trajectory of the robot to overcome obstacles.4.The robot under the condition of different types of pipeline gait was designed.Simulation model which was based on virtual prototype technology was built.Kinematics and dynamics simulation results under different motion of the robot were analysis,and we verified it to perform steadily climbing movement.It has a good load capacity,adaptability and obstacle ability.And the robot prototype was further made to verify.