微小管道机器人结构设计及动力学分析
摘要
微小管道机器人是微机器人研究领域的一个重要组成部分,它具有体积小、能耗低的特点,能够进入一般机械系统无法进入的狭小空间内,完成检测和维修作业,在化学工业、核工业及医学领域有着广泛的应用前景。
本文首先对现代微小管道检测机器人的国内外科研进展情况做了较为全面和详实的介绍,指出了本课题的研究重要性和研究方向,为本课题的研究提供了参考。
针对课题要求,提出了丝杠螺母副传动的蠕动式微小管道机器人、凸轮组式传动的微小管道机器人及直进轮式微小管道机器人三种总体设计方案,做了详细的静力学分析,计算了驱动力和移动速度,从结构及性能上做了对比分析,最终选用了丝杠螺母副传动的蠕动式微小管道机器人方案。
本文设计的微小管道机器人,采用三组直流电机与丝杠螺母传动装置,通过控制三组电机顺序协调动作,实现了机器人的蠕动式前进。利用SolidWorks 2005及AutoCAD 2006软件设计了全部的机械结构,并对主要的零件做了相关校核。设计的机器人总体尺寸为Φ13×190mm(收缩状态),质量约100g。同时研究了机器人在竖直管道中驱动负载的情况,以及支撑结构适应管径变化的力学调节特征。
最后利用ADAMS动力学分析软件,对机构做了运动学和动力学仿真,通过仿真得到了驱动力和移动速度与结构参数之间的关系数据曲线。仿真表明,机器人可以适应Φ15～20mm的管道,通过优化分析,使机器人在竖直管道上升爬行时的驱动力达到28N,移动速度达到6mm/s。
The in-pipe micro-robot is an important composion division of the micro robot research realm. The in-pipe micro-robots, capable of reaching to narrowness and dangerous areas, are characterized by small size, low power supply. They have the prospect to be widely used in the fields of the chemical engineering, the nuclear power plant, the medical treatment.
At first, this paper introduces generally and in detail the state of researching and developing in-pipe micro-robot for the purpose of giving me orientation, embodying the importance, researching direction of this problem and providing reference for the research of this topic.
Then, three design proposals are presented for the subject, which compose the screw-driven design of in-pipe micro-robot, the cam-driven design of in-pipe micro-robot and the wheel mechanism design of in-pipe micro-robot. All the static analyses of the three proposals are made, and the driving force and moving velocity are calculated. The first proposal of screw-driven design in-pipe micro-robot is chosen after comparison from the structure and the function.
The in-pipe micro-robot we designed comprises three DC motors and screw-driven units. The three motors are coordinated to realize the creeping motion. All mechanical designs are done and strength calculations are checked with the help of SolidWorks 2005 and AutoCAD 2006 software. The diameter of the robot is 13mm and the length of the robot is 190mm (when it has contracted), and it weights 100g. The load is analyzed for the case that the robot creeps in a vertical pipe. And the mechanical adjustment characteristic for the claws to adapt to the varying pipe size is also discussed in this paper.
At last, with the help of ADAMS software, kinematical and dynamical simulations are presented, which give the relationship between the driving force, the moving velocity and structural parameters of the robot. Simulations also show that the robot is applicable to pipes with diameter ranging from 15 to 20mm. The driving force reaches up to 28N and the moving velocity 6mm/s.
本文首先对现代微小管道检测机器人的国内外科研进展情况做了较为全面和详实的介绍,指出了本课题的研究重要性和研究方向,为本课题的研究提供了参考。
针对课题要求,提出了丝杠螺母副传动的蠕动式微小管道机器人、凸轮组式传动的微小管道机器人及直进轮式微小管道机器人三种总体设计方案,做了详细的静力学分析,计算了驱动力和移动速度,从结构及性能上做了对比分析,最终选用了丝杠螺母副传动的蠕动式微小管道机器人方案。
本文设计的微小管道机器人,采用三组直流电机与丝杠螺母传动装置,通过控制三组电机顺序协调动作,实现了机器人的蠕动式前进。利用SolidWorks 2005及AutoCAD 2006软件设计了全部的机械结构,并对主要的零件做了相关校核。设计的机器人总体尺寸为Φ13×190mm(收缩状态),质量约100g。同时研究了机器人在竖直管道中驱动负载的情况,以及支撑结构适应管径变化的力学调节特征。
最后利用ADAMS动力学分析软件,对机构做了运动学和动力学仿真,通过仿真得到了驱动力和移动速度与结构参数之间的关系数据曲线。仿真表明,机器人可以适应Φ15～20mm的管道,通过优化分析,使机器人在竖直管道上升爬行时的驱动力达到28N,移动速度达到6mm/s。
The in-pipe micro-robot is an important composion division of the micro robot research realm. The in-pipe micro-robots, capable of reaching to narrowness and dangerous areas, are characterized by small size, low power supply. They have the prospect to be widely used in the fields of the chemical engineering, the nuclear power plant, the medical treatment.
At first, this paper introduces generally and in detail the state of researching and developing in-pipe micro-robot for the purpose of giving me orientation, embodying the importance, researching direction of this problem and providing reference for the research of this topic.
Then, three design proposals are presented for the subject, which compose the screw-driven design of in-pipe micro-robot, the cam-driven design of in-pipe micro-robot and the wheel mechanism design of in-pipe micro-robot. All the static analyses of the three proposals are made, and the driving force and moving velocity are calculated. The first proposal of screw-driven design in-pipe micro-robot is chosen after comparison from the structure and the function.
The in-pipe micro-robot we designed comprises three DC motors and screw-driven units. The three motors are coordinated to realize the creeping motion. All mechanical designs are done and strength calculations are checked with the help of SolidWorks 2005 and AutoCAD 2006 software. The diameter of the robot is 13mm and the length of the robot is 190mm (when it has contracted), and it weights 100g. The load is analyzed for the case that the robot creeps in a vertical pipe. And the mechanical adjustment characteristic for the claws to adapt to the varying pipe size is also discussed in this paper.
At last, with the help of ADAMS software, kinematical and dynamical simulations are presented, which give the relationship between the driving force, the moving velocity and structural parameters of the robot. Simulations also show that the robot is applicable to pipes with diameter ranging from 15 to 20mm. The driving force reaches up to 28N and the moving velocity 6mm/s.
引文
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[3]李旻,章亚男,陈方泉.管道作业的微小型机器人[J].管道技术与设备,2000(4):7-11.
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[6]孙立夫,刘品宽,吴善强等.管内移动微型机器人研究与发展现状[J].光学精密工程,2003(8):326-332.
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[21]郭瑜,尚建忠,罗自荣,解旭辉.微小型螺旋推进管道机器人建模与分析[J].机械制造.2006(12):11-14.
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[23]Brunete A,Hernando M,Gambao E.Modular Multiconfigurable Architecture for Low Diameter Pipe Inspection Microrobots[A].IEEE International Conference on Robotics and Automation[C],2005,490-495.
[24]Yamaguchi T,Kagawa Y,Hayashi I,Iwatsuki N.Screw principle micro robot passing steps in a small pipe[A].IEEE International Symposium on Micromechatronics and Human Science[C].1999,149-152.
[25]金杰,杨建国,李倍智等.一种螺旋行走方式管内机器人控制系统[J].机械与电子,2005(10):59-61.
[26]Masaki Takahashi,Iwao Hayashi,Nobuyuki lwatsuki.The Development of an In-pipe Micro robot Applying the Motion of an Earthworm.Trans.Japan Society for Precision Engineering.1995.6(1):90-94.
[27]Matsuoka,T,Okamoto,H,Asano,M,et al.A prototype model of micro mobile machine with piezoelectric driving force actuator[A].IEEE 5th International Symposium on Micro Machine and Human Science[C].Nagoya,Japan.1994,47-54.
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