摘要
针对城市排水管道检测要求,结合传统管道检测方法的优缺点,研制开发具有管道内窥检测功能的轮式市政管道检测机器人。依据管道机器人设计参数要求,运用UG软件进行机器人机械结构设计,对机器人传动结构以及临界颠覆状态进行性能分析,并使用ADAMS软件进行运动学仿真,以验证机器人运动的平稳性。基于PMAC(programmable multi-axis controller)卡运用Visual C++6.0编写上位机控制软件,并对实物样机进行牵引力及爬坡性能测试。测试结果有效验证了本设计的合理性,以满足城市排水管道检测的需要。
Considering the inspection requirements for urban drainage pipelines as well as the advantages and disadvantages of traditional pipeline inspection methods, a kind of wheel municipal pipeline inspection robot with the endoscopic detection function was developed in this paper. According to the design parameter requirements for pipeline robots, UG software was used to design mechanical structures of the robot, meanwhile, the performances of the trans- mission structure and the critical subversion state were also further analyzed. And then, in order to verify the move- ment stability of the robot, ADAMS software was used to do the kinematics simulation. After that, visual C ＋ ＋ 6.0 was used to prepare the numerical control system based on the PMAC （Programmable Multi-Axis Controller） card. Finally, the traction and climbing performances of physical prototype were tested and the results effectively verified the rationality of the design, and the design goal for urban drainage pipeline detection was achieved.
出处
《机械科学与技术》
CSCD
北大核心
2013年第12期1802-1806,共5页
Mechanical Science and Technology for Aerospace Engineering
关键词
机器人
壳体(机械结构)
数控系统
control systems
computer simulation
computer endoscopy
floweharting
hardware
inspection
robots
schematic diagrams
shells （structures） software
controllers
design
drainage
efficiency
kinematics
numerical control systems
pipelines
stability
作者简介
唐路璐（1987-），硕士研究生，研究方向为机器人技术jesscil1118@126．com；
王殿君（联系人），副教授，博士wangdianjun@bipt．edu．cn
