面向小孔径T形管道的气动软体机器人转向策略

doi:10.12066/j.issn.1007-2861.2355

上海大学学报(自然科学版) ›› 2022, Vol. 28 ›› Issue (5): 908-920.doi: 10.12066/j.issn.1007-2861.2355

• • 上一篇

面向小孔径T形管道的气动软体机器人转向策略

杨扬, 赵润禾, 李天波, 赵永健, 齐宇燕, 钟宋义()

上海大学机电工程与自动化学院, 上海 200444

收稿日期:2021-11-28 出版日期:2022-10-30 发布日期:2022-06-11
通讯作者: 钟宋义 E-mail:zhongsongyi@shu.edu.cn
作者简介:钟宋义(1986—), 男, 博士, 研究方向为柔性传感、自供能智能器件、3D打印技术等. E-mail: zhongsongyi@shu.edu.cn
基金资助:
国家重点研发计划资助项目(2019YFB1703600);国家自然科学基金资助项目(62103253);上海市科技计划资助项目(20dz1207100)

Turning strategy of soft robot for T-branch pipes with small sizes

YANG Yang, ZHAO Runhe, LI Tianbo, ZHAO Yongjian, QI Yuyan, ZHONG Songyi()

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China

Received:2021-11-28 Online:2022-10-30 Published:2022-06-11
Contact: ZHONG Songyi E-mail:zhongsongyi@shu.edu.cn

摘要/Abstract

摘要：

近年来, 新型机器人技术被广泛应用于管道的维护与检查. 为了克服刚性管道机器人的局限性, 提高机器人的灵活性, 软材料制成的机器人已被开发并用于管道探测. 由于管道内部管路分支较多, 软体机器人在管道内的转向控制面临较大挑战. 针对此问题, 设计一种小孔径管道软体机器人, 并建立运动学模型, 在此基础上提出了机器人在T形弯管中的柔顺转向策略. 最后, 通过实验验证了转向策略的有效性和准确性. 实验结果表明, 提出的转向策略能有效提高软体管道机器人在T形弯管中的通过性和智能性.

关键词: 软体机器人, 管道机器人, 转向策略, 气动控制

Abstract:

Currently, new robotic technology is widely used in pipeline maintenance and inspection. Robots made of soft materials have been developed and used in pipeline inspection to overcome the limitations of rigid in-pipe robots and improve maneuverability. The turning control of soft robots in pipelines is a great challenge, owing to the various specifications and branches of pipelines. A soft robot for pipes with small diameters was developed in this study to solve this problem using a kinematic model. Based on this model, the flexible turning strategy of robots in T-branch pipes was established. Finally, the effectiveness and accuracy of the turning strategy were verified using experiments. The proposed turning strategy can effectively improve the mobility and intelligence of soft in-pipe robots in T-branch pipes.

Key words: soft robot, in-pipe robot, turning strategy, pneumatic control

中图分类号:

TP242

杨扬, 赵润禾, 李天波, 赵永健, 齐宇燕, 钟宋义. 面向小孔径T形管道的气动软体机器人转向策略[J]. 上海大学学报(自然科学版), 2022, 28(5): 908-920.

YANG Yang, ZHAO Runhe, LI Tianbo, ZHAO Yongjian, QI Yuyan, ZHONG Songyi. Turning strategy of soft robot for T-branch pipes with small sizes[J]. Journal of Shanghai University（Natural Science Edition）, 2022, 28(5): 908-920.

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面向小孔径T形管道的气动软体机器人转向策略

Turning strategy of soft robot for T-branch pipes with small sizes

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