基于ADAMS的PGZX-1型炉管爬行机器人建模与仿真

何富君; 张灵聪; 李秀伟; 张怀钰

基于ADAMS的PGZX-1型炉管爬行机器人建模与仿真

1.
东北石油大学机械科学与工程学院, 大庆 163318;
2.
大庆石化公司, 大庆 163714;
3.
大庆油田有限责任公司第一采油厂, 大庆 163319

详细信息

作者简介:
何富君(1970-),硕士生导师,博士,研究方向为机械电子工程,hefumail@126.com

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- 被引次数: 0
出版历程
- 收稿日期: 2012-06-30

Modeling and Simulating PGZX-1 Pipe Climbing Robot with ADAMS

1.
Department of Mechanical Science and Engineering,Northeastern University of Petroleum,Daqing 163318;
2.
Daqing Petrochemical Company,Daqing 163714;
3.
Frist Oil Extraction Plant of Daqing Oilfield Company Limited,Daqing 163319

摘要

摘要: 设计了一种针对竖直管道,依靠履带运动的PGZX-1型炉管爬行机器人,该机器人主要应用于加热炉炉管检测,可解决细长管小间隙单向排布管群检测难题。本文着重研究机器人履带行走装置,首先运用SolidWorks进行机体建模,再通过ADAMS进行仿真分析,利用宏命令添加约束及载荷,对履带块与带轮、管柱之间的压力、速度和加速度等进行仿真,分析了履带爬行的特点,明确履带受力情况及运动状态,并得出相应曲线,为履带式机器人爬升竖直管道的研究提供参考依据。
- 炉管 /
- 机器人 /
- 仿真 /
- 分析
Abstract: We design a PGZX-1 pipe climbing robot whose climbing depends on caterpillar and can climb a verti-cally straight stove pipe. The climbing robot is used to detect a furnace pipe and the small gap of a slender pipe. We make a special effort to study the running gear of the caterpillar. To do so, we establish the model of the climb-ing robot by using SolidWorks and simulate it by using ADAMS. We make use of macros to increase restriction and loading and simulate the press, velocity and acceleration of the track pad of the climbing robot with belt wheel and pipe. We analyze the caterpillar climbing carefully and decide the load-carrying capability and motion state of the caterpillar.
- gears /
- computer simulation /
- computer software /
- mathematical models

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参考文献(13)

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