管内机器人复合驱动机构设计方法与运动特性的研究

项目名称： 管内机器人复合驱动机构设计方法与运动特性的研究

项目编号： No.51475115

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 陈军

作者单位： 哈尔滨工业大学

项目金额： 80万元

中文摘要： 针对复杂充液介质环境下管内机器人长距离行走需要满足牵引力大、耗能低及运行稳定的要求，提出一种电驱与介质压差集成的复合驱动方法。研究约束空间提高驱动能力的管内机器人构形设计方法、管内机器人与充液介质环境的力学建模方法。以管内机器人串联结构形成受限空间内的多体系统为分析对象，建立动力学模型，研究影响速度稳定性的因素。通过分析转向运动奇异点失稳现象，研究管内机器人空间转向运动规划，并提出相应的控制策略，解决转向运行中的动态失稳问题。以降低能耗为目标，研究管内机器人机构特征对无缆驱动自载能源分配的影响，提供低耗能管内机器人机构的选择依据。研究成果可为管内机器人适应特殊环境下的应用奠定理论基础，具有十分重要的意义。

中文关键词： 管内机器人；复合驱动；机构设计；动力学模型；运动特性

英文摘要： In order to realize the requirements of large traction,low energy consumption and stable operation that in-pipe robot locomote for a long distance in complex filling liquid medium environment, the composite driving method with motor drving and fluid medium pressure difference integrated is presented. The configuration design method to improve in-pipe robot driving ability in constraint space, the mechanics modeling method of in-pipe robot and filling liquid medium environment are researched. For multi-body system formed by in-pipe robot series structure in the limited space, establish dynamic model to study the factors that affect the speed stability. By analyzing the instability phenomenon for in-pipe robot steering motion in singular point, research motion planning of in-pipe robot steering in space, and address the corresponding control strategies to solve the dynamic instability problems in steering motion. To reduce energy consumption as the goal, research the influence for characteristics of in-pipe robot mechanism on wireless drive and self-contained energy distribution, providing the basis for selecting low energy mechanism. The research results can lay the theoretical basis for in-pipe robot adapt to apply in special environments and having a very important significance.

英文关键词： in-pipe robot;composite drive;mechanism design;dynamic model;motion characteristics