Structure Design and Kinematics Analysis of Robot of Pipeline Inspection

Wangjue Du ； Dongyu Shi ； Zhihai Xue ； Zengyue Zhang

《International Core Journal of Engineering》 8卷5期 (2022/05) Pp. 396-405

https://doi.org/10.6919/ICJE.202205_8(5).0048

摘要

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.

關鍵字

Pipeline Inspection ； Robotics ； Kinematics ； MATLAB

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