Kinematics Analysis of Magnetic Adsorption Tube Climbing Robot Based on Adams

Abstract

An articulated tube climbing robot with an adsorption device is designed to address the needs of the working environment outside pipeline tubes. The robot can perform actions such as walking on the tube, crossing obstacles, and rotating. A mechanism model is first established using SOLIDWORKS, and mechanical and finite element analyses are carried out to check the strength of the key parts and verify the rationality of the structure. ADAMS dynamics simulation of the tubeclimbing robot outside the tube is then carried out, and the kinematic characteristics and data of the robot performing various actions through different pipelines are analyzed, providing a reference for the development of the prototype machine. The research results show that the mechanism design scheme of the tube climbing robot outside the tube is effective and reasonable.