仿生管道检测机器人张拉整体机构稳定性分析
Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot
摘要：
管道检测机器人在工业中发挥着至关重要的作用，因为它们可以减少人类的工作量，并降低对生命的风险。一般来说，这些机器人的运动技术可以分为机械和仿生。法国LS2N公司设计并研制了一种刚性履带式巡检机器人，该机器人采用了槽形从动腿机构、直流电机和控制单元。该刚性原型有助于确定与管道壁实现良好接触力所需的静态力。为了实现机器人的曲面内工作，在机器人的各个模块之间引入了由三个拉簧和一个被动万向节组成的张拉整体机构。通过考虑拉索的预紧力，确定了机器人装配的最优参数，保证了整个机器人的稳定性。然而，在静态条件下，存在一些力的机器人，特别是张力整体机构的腿机构的一端与管道壁夹紧时。当管道的方向为水平时，这些力占主导地位。本文的目的是了解在机器人装配体自重作用下，弹簧刚度对张拉整体机构静稳定性的影响。
英文摘要：
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.
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