基于超声波衍射时差法的管道探伤机器人设计及运动仿真
Design and kinematic simulation of pipeline flaw-detection robot based on ultrasonic time of flight diffraction
王红敏 1王牧天 1于深 1王韵棠1
作者信息
- 1. 山东理工大学机械工程学院,山东淄博 255000
- 折叠
摘要
为了实现管道内壁的无损探伤,采用超声波衍射时差法,结合轮式和履带式行走装置的优点,设计了一种新型管道探伤机器人.基于衍射时差法理论对机器人的探测装置进行分析,对机器人穿过管道弯道的姿态进行运动学分析,建立D-H模型,求解机器人的运动学方程,并使用MATLAB Robotics工具箱进行仿真,生成了机器人的位移、速度和加速度曲线,仿真结果表明:机器人穿过管道弯道部分时行进过程平稳无冲击,机器人结构设计合理.
Abstract
In this article,in order to realize non-destructive flaw-detection of the pipeline's inner wall,a pipeline flaw-de-tection robot is designed with the help of ultrasonic TOFD(Time of Flight Diffraction).The robot combines the advantages of the wheeled walking devices and the crawler walking devices.The robot's flaw-detection device is analyzed based on the theory of TOFD.The kinematic analysis is conducted on the robot's posture through the curved pipes,and the D-H model is set up.The kinematic equation is solved,and the robot's displacement,velocity and acceleration curve ae plotted by using the MATLAB Ro-botics toolbox for simulation.The results show that the robot passes the curved pipes smoothly without any impact,and the struc-ture design proves reasonable.
关键词
管道探伤/机器人结构设计/超声衍射时差法/运动学仿真Key words
pipeline flaw-detection/structure design of robot/ultrasonic TOFD/kinematic simulation引用本文复制引用
出版年
2024
NETL
NSTL
万方数据