China Mechanical Engineering ›› 2021, Vol. 32 ›› Issue (15): 1884-1889.DOI: 10.3969/j.issn.1004-132X.2021.15.015

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Design and Kinematic Analysis of Crawler-type Pipeline Endoscope Robots for Wind Turbine Blades#br#

ZHANG Yue1;DONG Lei2;HUAN Ronghua1;HUANG Zhilong1   

  1. 1.College of Aeronautics and Astronautics,Zhejiang University,Hangzhou,310027
    2.Hangzhou Baize Xinneng Technology Co.,Ltd.,Hangzhou,310010
  • Online:2021-08-10 Published:2021-09-08



  1. 1.浙江大学航空航天学院,杭州,310027
  • 通讯作者: 宦荣华(通信作者),男,1979年生,教授、博士。研究方向为非线性动力学、振动控制、MEMS动力学等。。
  • 作者简介:张月,女,1996年生,硕士研究生。研究方向为管道履带机器人机械设计与力学分析。
  • 基金资助:

Abstract:  Aiming at the environmental characteristics of the wind turbine blades including variable cross-sections, large slopes, and multiple obstacles, a crawler-type pipeline endoscope robot with a 4-DOF joint was designed for internal inspection and maintenance, and the kinematic characteristics of the proposed robot were analyzed herein. The robot included three parts:front/rear crawler-type mobile platform and a middle 4-DOF joint. The 4-DOF joint consisted of a 2-DOF cross joint commonly used in a snake robot, and forward/backward rotation module. Through the cooperation of the four motors inside, functional movements such as head-up, turning, multi-angle rolling and climbing might be realized. Firstly, the basic structure, dynamic system and connecting mechanism of the 4-DOF joint were introduced. Then, the forward and inverse kinematics of the robot were solved based on the D-H method. The working space of the robot was then obtained, and the overall dynamic simulation of the robot was carried out using CoppeliaSim. Finally, the robot was assembled according to the proposed design scheme, and the realization of various functional movements of the robot was verified through experiments. 

Key words: in-pipe robot, 4-DOF joint, forward and inverse kinematics, dynamic simulation

摘要: 针对风电叶片内部变截面、大坡度、多障碍等环境特征,设计了一种四自由度关节的履带式管道内窥机器人用于叶片内部检测和维护,并对该机器人的运动学特征进行了分析。该机器人包括前后履带式移动平台和中间四自由度关节三部分。四自由度关节由蛇形机器人常用的二自由度十字关节和前后旋转模块组成,通过四个电机之间的配合,可实现抬头、转弯、多角度翻转、爬坡等功能。介绍了该四自由度关节的基本结构、动力系统和连接机构等;基于D-H方法对机器人的正逆运动学问题进行分析,得到了机器人的工作空间,并用CoppeliaSim对机器人进行了整体动态仿真;根据设计方案研制了机器人样机,并通过实验对机器人各功能的实现进行了验证。

关键词: 管道机器人, 四自由度关节, 正逆运动学, 动态仿真

CLC Number: