论文标题
紧张机制的稳定性分析与生物启发的管道检查机器人
Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot
论文作者
论文摘要
管道检查机器人在行业中起着至关重要的作用，因为它们可以减少人类的努力，并为他们的生活带来较小的风险。通常，这些机器人的运动技术可以分为机械和生物启动。通过使用插槽的腿腿机构，直流运动和控制装置，在法国LS2N设计和开发了一个刚性毛毛虫型检查机器人。该刚性原型有助于识别与管道壁良好接触力所需的静电力。为了在曲线内部工作，在该机器人的每个模块之间引入了使用三个张力弹簧和被动通用关节的张力机制。通过考虑电缆的预紧力来确定机器人组件的最佳参数，从而确保整个机器人的稳定性。但是，在静态条件下，机器人上存在一些力，尤其是在腿部机理的一端用管道壁夹住时，在紧张机制上。当管道的方向水平时，这些力是主导的。本文的目的是了解弹簧刚度对机器人组装自重下张力机理的静态稳定性的影响。
Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By using slot-follower leg mechanisms, DC-motors, and control units, a rigid caterpillar type inspection robot was designed and developed at LS2N, France . This rigid prototype helped in identifying the static forces required to accomplish good contact forces with the pipeline walls. In order to work inside curvatures, a tensegrity mechanism that uses three tension springs and a passive universal joint was introduced between each module of this robot. The optimal parameters of the robot assembly were identified by considering a preload of the cables, which ensured the stability of the entire robot. However, under static conditions, there exist some forces on the robot, especially on the tensegrity mechanism when one end of the leg mechanism is clamped with the pipeline walls. These forces are dominant when the orientation of the pipeline is horizontal. The objective of this article is to understand the effect of the stiffness of the spring on the static stability of the tensegrity mechanism under the self-weight of the robot assembly.
