Jixie chuandong (Jun 2023)
Stability Analysis and Simulation of Multi-section Pipeline Robots in the Turning Process
Abstract
Aiming at the problem that the speed of the contact point of the multi-section pipeline robot changes abruptly during the turning process, which will affect the stability of the robot's motion, the turning process of the robot is explored. Based on the pose model in the pipe bend of the pipe robot, the position and velocity of the contact point between the robot and the pipe are solved. Firstly, the turning process of the robot is briefly described; secondly, the pose model of the pipeline robot in the pipe bend is established and the position of the contact point between the robot and the pipeline is solved; then the speed of the robot is analyzed to find the attitude angle where the speed of the robot does not change suddenly. Finally, the correctness of the conclusion and the solution process is verified by the Matlab numerical solution and Adams simulation, which lays a foundation for the continuous and stable control of robot turning process.
