新型外置管道爬行机器人ExPiRo的设计与研制

2020 5th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2020-11-20 DOI:10.1109/ICRAE50850.2020.9310831

I. M. D. C. Jayasundara, A. Mudugamuwa, Han Baokun, K. Perera, Y. Amarasinghe

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引用次数: 0

摘要

本文介绍了一种新型的外部管道机器人(EPR) ExPiRo的设计方法和开发，该机器人能够在直径为100 mm至130 mm的圆柱形结构的线性段上移动。该机器人有一个由两个平行四边形四杆机构组成的被动管道抓紧机构。设计的机器人可以携带2.2公斤的有效载荷。在测试过程中，ExPiRo原型机展示了在不同直径的管道上运行的理想能力。提出了一种用于管道内机器人位置控制的控制系统。通过ADAMS-MATLAB联合仿真对所提控制系统的性能进行了评价。控制系统在达到不同目标位置时表现出明显的稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design and Development of a Novel External Pipe Crawling Robot ExPiRo

This paper presents the design approach and development of a novel External Pipeline Robot (EPR) named ExPiRo with the capability of moving on linear segments of cylindrical structures with variable diameters in the range 100 mm to 130 mm. The robot has a passive pipe clutching mechanism created from two parallelogram four-bar linkages. The designed robot can carry payloads up to 2.2 kg. The ExPiRo prototype demonstrated the desired ability to travel on a varying diameter pipe during testing. A control system for position controlling of the robot within the pipeline is also proposed. An ADAMS-MATLAB co-simulation is conducted to evaluate the performance of the proposed control system. The control system demonstrated significant stability in reaching different goal positions.

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2020 5th International Conference on Robotics and Automation Engineering (ICRAE)

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