【摘要】 为了实现管道内壁的无损探伤，采用超声波衍射时差法，结合轮式和履带式行走装置的优点，设计了一种新型管道探伤机器人。基于衍射时差法理论对机器人的探测装置进行分析，对机器人穿过管道弯道的姿态进行运动学分析，建立D-H模型，求解机器人的运动学方程，并使用MATLAB Robotics工具箱进行仿真，生成了机器人的位移、速度和加速度曲线，仿真结果表明：机器人穿过管道弯道部分时行进过程平稳无冲击，机器人结构设计合理。更多还原

【Abstract】 In this article, in order to realize non-destructive flaw-detection of the pipeline’s inner wall, a pipeline flaw-detection robot is designed with the help of ultrasonic TOFD(Time of Flight Diffraction). The robot combines the advantages of the wheeled walking devices and the crawler walking devices. The robot’s flaw-detection device is analyzed based on the theory of TOFD. The kinematic analysis is conducted on the robot’s posture through the curved pipes, and the D-H model is set up. The kinematic equation is solved, and the robot’s displacement, velocity and acceleration curve ae plotted by using the MATLAB Robotics toolbox for simulation. The results show that the robot passes the curved pipes smoothly without any impact, and the structure design proves reasonable.更多还原