摘要
针对目前胶囊机器人普遍存在爬行速度慢、远程操控过程复杂的问题,开发了用于小内径管道检测的振动驱动机器人.基于非光滑多体动力学,建立了样机动力学特性的数学模型,在建模中考虑了摩擦和冲击两种非光滑非线性,数值分析了机器人的运动行为及参数影响.进行了机器人样机的研制,包含微控制器、无线控制模块等,并在透明亚克力管道中进行测试.机器人长50mm,直径28mm,可以达到7.5mm/s的最大前进速度和-3.5mm/s的最大后退速度.研究证明了该型振动驱动机器人进行小内径管道检测的可行性.
Aiming at issues of slow crawling speed and complex remote control process of capsule robot,a vibration driven robot for small inner diameter pipeline detection is developed.Based on the non-smooth multi-body dynamics,a mathematical model of dynamic characteristics of the prototype is established.Two non-smooth nonlinearities,e.g.,friction and impact,are considered in modeling,and the motion behavior and parameter influence of the robot are numerically analyzed.The robot prototype is developed,including microcontroller and wireless control module,and tested in a transparent acrylic pipe.With a length of 50mm and a diameter of 28mm,the robot can reach a maximum average forward speed of 7.5mm/s and a maximum backward speed of-3.5mm/s.The research proves feasibility of the vibration driven robot for small inner diameter pipeline detection.
作者
郭瑞
朱清东
郭俞良
姚红良
Guo Rui;Zhu Qingdong;Guo Yuliang;Yao Hongliang(School of Mechanical Engineering and Automation Northeastern University,Shenyang 110819,China)
出处
《动力学与控制学报》
2023年第1期89-96,共8页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(52075084,U08257)。