Dynamic simulation research of adaptive support mechanism of pipeline inspection robot based on ADAMS

摘要

Abstract The drainage pipe contains plenty of toxic gases that are hazardous to the human body, and the narrow size of the drainage pipe makes manual inspection difficult, so it is necessary to use a robot to replace the manual inspection of the drainage pipe. For this purpose, this paper designs a pipe inspection robot that can smoothly realize the passage and inspection in the drainage pipe. With an adaptive support mechanism, the robot can move to the working position in the pipeline. The trajectory of the end of the support mechanism is planned, and the dynamics of the support mechanism are simulated by ADAMS to analyze the motor load to verify that it can cope with the complex environment of the drainage pipe.