The Mechanical Design and Simulation of Marine In-Pipe Robot Based on Metamorphic Mechanism

摘要

According to the characteristics of the marine pipelines, we present a kind of ships in-pipe reconnaissance robot for different types of pipes. Finish an optimized design for the adjusting mechanism by mechanics analysis of the metamorphic mechanism, and by the analysis of overcoming obstacles performance, the robot can not only adapt to different types of pipes, but also has good obstacle surmounting abilities. No doubt it improves the stability and reliability of the robot. The force and movement trajectory of the robot is obtained by using ADAMS, which carries on the kinematics analysis. Simulation results show that the robot can pass through 330 ~ 486 mm (diameter) pipes smoothly and can pass 5 mm circular obstacle by spring within the scope of the traction.