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《Machinery Design & Manufacture》 2012-07
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Dynamics Analysis and Simulation of Pipeline Detection Robot Based on ADAMS

TANG Peng1,SHI Cheng-jiang1,LIU Zhan-min2,WANG Dian-jun2,LIU Jin-fu3(1School of Mechanical Engineering,Liaoning Shihua University,Fushun 113001,China)(2School of Mechanical Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617,China)(3School of Mechanical Engineering,Anhui University of Technology,Maanshan 243002,China)  
In allusion to the structure and kinematic characteristics of pipeline detection robot,and the running mode selection of robot in the pipeline,on the basis of the force and torque dynamic equilibriume in pipeline,a kind of dynamic theory algorithm solving the raider pipe robots was put forward,which may solve the movement force equilibrium calculation problem.Then a virtual prototyping model of robot was established based on ADAMS simulation software by adding restraint,setting drive parameter and setting up the corresponding simulation environment,and the velocity,acceleration,and drive torque curve of driving wheel of robot for inspecting pipeline were measured,analyzed and evaluated to verify the rationality of the theoretical calculation,which provides important theory basis for the control system of robot movements.
【Fund】: 国家973项目(2009AA04Z20)
【CateGory Index】: TP271;U178
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