刚柔耦合管道机器人管道通过性分析及验证
Analysis and Validation on Traveling-capability of In-pipe Rigid Flexible Coupling Robot

针对目前管道机器人对复杂管道连续作业不理想的问题，提出一种新型刚柔耦合机器人。机器人采用首尾扩张机构与中间弹簧驱动机构配合工作的步进式前进工作方式，而且通过弹簧机构的柔性可以更好的适应管道变化；通过设计的机器人提出了一种新的管道通过模式，并根据机器人受力情况、运动特性以及管道受力分析，从多方面分析管道机器人通过管道时的影响因素，得出一种不仅能够适应复杂变化的管道，而且可以实现对不同曲率半径管道探测的机器人；最后对机器人进行实验研究以及验证。
As continuous working ability at complex pipe of the pipeline robot at home and abroad is not ideal, a kind of rigid flexible coupling robot is put forward, which the front part and the back part works together with the middle part that is composed of a spring letting the robot receive forward. Furthermore, under the influence of this way the robot can better adapt to the changes of the pipe. A new mode to pass through the pipeline is also presented, and a number of factors, including force analysis of robot, motion characteristics and force analysis of pipeline, are analyzed when the robot gets through the pipeline, and then a new robot can not only adapt to complex pipelines, but also detect the pipelines with different curvature radius. At last, the experiments are used to validate the robot