Kinematic analysis of pipe robot in elbow based on virtual prototype technology

This paper focuses on kinematic characteristics of articulated multi-unit wheel type pipe robot system. After establishing the posture model of the robot system in elbow considering wheel dimensions, wheel center coordinates and corresponding contact point coordinates of each wheel are presented. Based on the posture model, the ratio relations of theoretical angular velocity for each wheel are presented. To confirm the effectiveness of the proposed theoretical analysis, simulation analyses based on virtual prototype technology are performed, and the analysis results with theoretical calculations are basically identical. This provide theoretical basis for the selection of driving mechanism design and control mode of wheel type pipe robot.