Crossing ability analysis of triaxial differential pipeline robot

YIN Qi-hui， KONG Fan-rang
（School of Engineering Science， University of Science and Technology of China， Hefei 230006， China）

Abstract： In order to improve the viability of three-axis differential wheeled pipeline robot in the harsh pipeline environment，a method applied to raise and calculate pipe robot crossing ability was supplied. According to wheel pipe robot specific requirements，a robot mechanical model and its constraints were established under a crossing situation based on three-axis differential theory. A global optimization algorithm was taken to draw the main parameters of the optimal solution，and to get maximum height value of pipeline robot to be able to overcome the steps that crossing ability. It was gotten that the crossing ability of three supporting groups has identity and symmetry through mechanical analysis.The results indicate that the method verifies the correctness of the triaxial differential，the robot structure parameters of the optimized pipeline via the method provide an effective technical parameters for the future pipeline robot design.
Key words： triaxial differential pipeline robot； three-axis differential speed theory； crossing ability analysis； mechanical analysis