力学的解析と動力学シミュレーションに基づく自走式配管内ロボットの設計と研究
Design and Research of a Self-Propelled Pipeline Robot Based on Force Analysis and Dynamic Simulation
配管内検査用の自走式車輪型ロボットを設計し、動力学シミュレーションと実験で垂直登攀やT字分岐の通過性能を検証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Yan Gao, Jiliang Wang, Ming Cheng, Tianyun Huang
分類: cs.RO
原文アブストラクト
In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled pipeline robot design based on force analysis and dynamic simulation, with a specific focus on solving core challenges including vertical climbing failure and poor passability in T-branch pipes. Adopting a wheeled configuration and modular design, the robot prioritizes the core demand of body motion control. Specifically, 3D modeling of the robot was first completed using SolidWorks. Subsequently, the model was imported into ADAMS for dynamic simulation, which provided a basis for optimizing the drive module and motion control strategy.To verify the robot's dynamic performance, an experimental platform with acrylic pipes was constructed. Through adjusting its body posture to surmount obstacles and select directions, the robot has demonstrated its ability to stably traverse various complex pipeline scenarios. Notably, this work offers a technical feasibility reference for the application of pipeline robots in the inspection of medium and low-pressure urban gas pipelines.
