Structure Design and Kinematics Analysis of Robot of Pipeline Inspection

10.6919/ICJE.202205_8(5).0048

Wangjue Du；Dongyu Shi；Zhihai Xue；Zengyue Zhang

Pipeline Inspection ； Robotics ； Kinematics ； MATLAB

International Core Journal of Engineering

8卷5期（2022 / 05 / 01）

396 - 405

英文

In view of the poor urban pipeline environment, effective maintenance and low efficiency, a pipeline inspection robot is designed to replace humans to overhaul and maintain pipelines. The robot is composed of a mobile chassis and a camera PTZ. By analyzing the motion state of the robot, the kinematic model of the moving chassis and its kinematic equation were established, to analyze the relationship between the speed of the wheel and the robot. Moreover, the kinematics model of camera PTZ is established by D-H parameter method, And MATLAB is used to analyze the forward displacement to calculate the end pose of the camera PTZ and to validate the mathematical models. Finally, the physical prototype is designed and manufactured, which provides a theoretical basis for subsequent analysis and the design of the robot control system.

1. ZAGLER A, PFEIFFER F. ”MORITZ” a Pipe Crawler for Tube Junctions. IEEE Int. Conf. on Robotics & Automation, Taipei, Taiwan, 2003: 2954-2959.
   連結：
2. Chang D J, Won J C, Jin S A, et al. Optimal Mechanism Design of In-pipe Cleaning Robot. Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation. Beijing, China, 2011: 1327-1332.
   連結：
3. Wang T, Wu Y, Liang J, et al. Analysis and Experimental Kinematics of a Skid-Steering Wheeled Robot Based on a Laser Scanner Sensor. Sensors (14248220), 2015, 15(5):9681-9702.
   連結：
4. SINGH A, SINGLA A, SONI S. Extension of D-H parameter method to hybrid manipulators used in robot-assisted surgery. Proc Inst Mech Eng H, 2015, 229(10):703-712.
   連結：
5. Gan X M, Xu B S, Dong S Y, Zhang X M. The development status of pipeline robots. Robotics and Applications, 2003(06):5-10.
6. Shao Q, Xie Z D. Development and Prospect of Pipeline Robot. Agriculture and Technology, 2016, 36(05): 173-175.
7. Ge W T. Design and simulation of mobile mechanism of four-wheel drive all-wheel differential steering mobile welding robot. Nanchang University, 2012.
8. Hou G Q. Kinematic analysis and stability of mobile robot walking system. Hebei University of Technology, 2007.
9. Xu Z W, Jin J Q, Ma B S, Liu C. Motion analysis and simulation of palletizing robot. Enterprise Technology Development, 2017, 36(01).
10. Zhang K M. Research on robot simulation based on virtual reality. Chongqing: School of Mechanical Engineering, Chongqing University, 2012:28-40.