6-DOF Parallel-Pipe Robot And Its Virtual Prototype Technology

The pipeline is broadly focused as a main transporting means by people, which also bring a series of problem such as working in pipe and pipeline detecting. In this background, pipeline robot comes forth and becomes a hot research discussion. In this field, mobile technology of pipeline robot is a main research content. How to pass various elbow of pipeline effectively is a urgent problem in mobile technology theory. On the other hand, parallel robot as a new-style robot is more and more focused because of his own advantage. it's broadly applied to new-style machine tools,large-scale radio-telescopes and space docking and so on. Application of parallel robot as the locomotive mechanism is still a new research direction, capability of which adapting complicated environment of pipeline has been researched.This article establishes the math models of inverse solution that 6-DOF Parallel-Pipe Robot mobile in elbow of pipeline recurred to the method of matrix analysis and transformation of homogeneous coordinates, analyses elbow traveling-capability and argue to the researching method of interferential problem between driving staff and elbow. Finally, based on virtual prototype technology, the simulation model was performed, which proves analysis of theory, and provides massive basis for establishing physical prototype.