Dynamics And Parameter Optimization Of Asymmetric Coasting System For Pipeline Robots

Wisdom management is the inevitable trend of network system,and the pipeline robot is indispensable equipment to realize the network intelligence management.The technology of pipeline robot replacing manual detection greatly,enhances the accuracy of detection,reduces the cost of operation,and improves the efficiency of work.However,the current pipeline robot's sealing method between power system and environment is dynamic seal more,power system reliable operation exist hidden trouble.Therefore,a fully enclosed asymmetric inertial walking system is proposed in this paper.In view of the characteristics of pipeline structure,a fully enclosed inertial walking mechanism driven by elliptic gears is proposed,the mechanism composition,walking principle and reversing principle of the inertial pipeline robot are expounded and the nonlinear dynamic models of pipeline robot in dry and wet pipeline environments are respectively established.According to numerical method,the dynamic response of the robot under different parameters is quantitatively solved,and the influence rules of system structural parameters,driving parameters and environmental factors on walking behavior are analyzed.With the increase of pipe inclination and mass ratio,the moving speed of the system decreases.With the increase of motor speed,eccentricity of elliptic gear,radius of gyration of eccentric mass and supporting force,the moving speed of the system increases first and then decreases.Therefore,to improve the running speed of asymmetric inertial walking system,the values of system parameters need to be controlled.Furthermore,considering the actual situation,taking the maximum average speed of the robot as the optimization target and based on genetic algorithm,and the system parameters of the asymmetric inertial walking system in dry pipeline environment and wet pipeline environment are optimized.Compared with parameters before optimization,the walking speed of robot is improved.Finally,according to the optimization results of the dynamic parameters of the asymmetric inertial walking system,this paper designed and trial-produced a prototype of the asymmetric inertial walking device,tested the average speed of the walking device under different rotating speeds in a dry pipeline environment and compared with the theoretical average speed.The theoretical analysis is basically consistent with the test,thus proving the feasibility of the pipeline robot to realize walking by driving with the asymmetric inertial force and verifying the correctness of the dynamic model of the asymmetric inertial walking system.