263 / 2024-03-14 16:34:45

Design and steering motion analysis of pipeline inspection robot

Pipeline inspection robot,Reconfigurable parallel mechanism,Motion analysis

4、智能化装备技术 > 3、特殊环境机器人技术

Pipeline inspection robots are often used in the inspection and maintenance of pipelines. It is a difficult problem for pipeline inspection robots to pass through the T-branch. In this study, a novel pipeline inspection robot was designed. Firstly, the constraints of the pipeline inspection robot in the elbow were analyzed, the pipeline inspection robot was designed based on the constraints and task requirements, and the 3D model of the pipeline inspection robot was established. Analyzed the speed of the pipeline inspection robot in the elbow and T-branch. Simulation software is used to simulate the steering movement of the pipeline inspection robot. The simulation results show that the pipeline inspection robot realizes the active steering function in the T-branch by the differential motion of the driving wheels. In summary, this study proposes that the method of differential motion provides an idea for solving the research of pipeline inspection robots passing through the T-branch.