【摘要】 针对外部管道结构的复杂性和特殊性,提出并设计一种高效、实用、多用的管外行走机器人。为满足管外行走机器人提供足够的夹紧力,各个夹紧点间相隔要尽量均匀,能顺利夹紧或松开工作管道,具有较好传动效率及各构件不能发生干涉等要求,通过建立管外行走机器人抱紧机构的数学模型,基于MATLAB编程算法,采用多目标有约束问题的最优化方法,确定了待优化杆件尺寸和角度,最终输出优化计算的结果和仿真图形,得到最优的设计方案,为解决管外行走机器人优化问题提供了一种新方法。更多还原

【Abstract】 In view of the complexity and particularity of the external pipe structure,an efficient,practical and multi-use pipeline walking robot is proposed and designed. Sufficient clamping force is provided to meet the tube walking robot,each clamping point apart to uniform,the robot can smoothly clamp or loosen the working pipe,good transmission efficiency and each component can’t interfere the requirements,through the establishment for mathematical model of pipeline walking robot clamping mechanism,basing on the programming algorithm of MATLAB,using the optimization method of multi-objective constrained problem and determining the optimal bar size and angle,finally,outputting of the optimization calculation results and simulation,obtaining the optimal design scheme,providing a new method to solve the problem for the optimization of the pipeline walking robot.更多还原