Open AccessDynamic Simulation Analysis and Experiment of Large-caliber Self-propelled Pipeline Crawler Based on ADAMS
Author(s) -
Yingxin Tang,
Huadong Song,
Yanyan Yu,
Jun Zhang,
Wenguang Hu,
Xiaoting Guo
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2095/1/012049
Subject(s) - web crawler , pipeline (software) , climbing , simulation , engineering , process (computing) , robot , marine engineering , computer science , mechanical engineering , artificial intelligence , structural engineering , world wide web , operating system
The force states of driving wheels are different when the self-propelled pipeline crawler moves in the pipeline, so it is difficult to carry out accurate theoretical analysis and calculation on the force and output torque values of each driving wheel in horizontal, climbing and turning conditions of the crawler. Due to the complex mechanical properties of pipeline sealing and the limitation of visualization, it takes a long period and high cost to develop the robot in pipeline by experimental means. With the gradual application of virtual simulation means, the complicated dynamic analysis and solution process in the past has become relatively easy. In this paper, Solid works is used to establish a simplified model of the crawler, and ADAMS is used to analyze and simulate the dynamics of the crawler. The force of the multi-wheel driven pipeline crawler is given under the condition of horizontal, climbing 35° and turning, which provides the necessary analysis method and theoretical basis for the design optimization and improvement. Finally, the horizontal, climbing and bending motion performance of the crawler is verified by comprehensive pipeline experiment.