仿生多关节管道机器人结构设计与系统控制研究

郭兵; 李正男; 张静静; 王海波; 常宗瑜; 汤超

doi:10.16383/j.aas.c250510

仿生多关节管道机器人结构设计与系统控制研究

doi: 10.16383/j.aas.c250510 cstr: 32138.14.j.aas.c250510

郭兵^1,,
李正男^1,,
张静静^2,,
王海波^1,,
常宗瑜^1,,
汤超^1,

1.
中国海洋大学工程学院山东青岛 266404
2.
青岛理工大学机械与汽车工程学院山东青岛 266520

基金项目: 泰山学者工程专项经费 (tsqn202306116), 国家自然科学基金 (52475036, 52305384), 山东省自然科学基金 (ZR2024QE057, ZR2022QE253)资助

详细信息

作者简介:
郭兵：中国海洋大学工程学院博士研究生. 主要研究方向为检测机器人结构设计以及性能优化. E-mail: thinkouc1027@stu.ouc.edu.cn

李正男：中国海洋大学工程学院硕士研究生. 主要研究方向为管道巡检机器人. E-mail: lzn0925@stu.ouc.edu.cn

张静静：青岛理工大学机械与汽车工程学院副教授. 主要研究方向包括:复合材料结构设计与3D打印轻量化高性能成形制造; 复合材料精准成形制造中的界面强化技术; 复合材料高效低成本电子束, 紫外光, 微波固化技术. E-mail: zhangjingjing@qut.edu.cn

王海波：中国海洋大学工程学院讲师. 2022年获得天津大学博士学位. 主要研究方向为软体机器人, 变刚度技术, 机构学与机器人学和运动补偿技术. E-mail: wanghaibo@ouc.edu.cn

常宗瑜：中国海洋大学工程学院教授. 2000年获得天津大学博士学位, 曾在加拿大Alberta大学从事博士后研究. 主要研究方向为机构学与机器人学, 机械动力学和海洋装备动力学与控制. E-mail: zongyuchang@ouc.edu.cn

汤超：中国海洋大学工程学院副教授. 2019年获得西安交通大学机械工程博士学位, 曾在清华大学从事博士后研究. 主要研究方向为新形态机器人设计.本文通讯作者. E-mail: tangchao@ouc.edu.cn

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出版历程
- 收稿日期: 2025-09-29
- 录用日期: 2026-03-04
- 网络出版日期: 2026-04-30

Research on Structural Design and System Control of Bionic Multi-Joint Pipeline Robots

1.
College of Engineering, Ocean University of China, Qingdao, Shandong 266404
2.
School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao, Shandong 266520

Funds: The Special Funds of Taishan Scholars Project of Shandong Province (tsqn202306116), National Natural Science Foundation of China (52475036, 52305384), and Natural Science Foundation of Shandong Province (ZR2024QE057, ZR2022QE253)

More Information

Author Bio:
Guo Bing　Ph.D. candidate at the College of Engineering, Ocean University of China. His research interest the structural design and performance optimization of inspection robots

Li Zheng-Nan　Master student at the College of Engineering, Ocean University of China. His research interest lies in pipeline inspection robots

Zhang Jing-Jing　Associate Professor at the School of Mechanical and Automotive Engineering, Qingdao University of Technology. Her research interest covers composite material structural design and lightweight high-performance forming manufacturing via 3D printing; interface strengthening technology in precision forming manufacturing of composite materials; and high-efficiency low-cost curing techniques for composite materials using electron beam, ultraviolet light, and microwave

Wang Hai-Bo　Lecturer at the College of Engineering, Ocean University of China. He received his Ph.D. degree from Tianjin University in 2022. His research interests include soft robotics, variable stiffness technology, mechanisms and robotics, and motion compensation technology

Chang Zong-Yu　Professor at the College of Engineering, Ocean University of China. He received his Ph.D. degree from Tianjin University in 2000. He conducted postdoctoral research at University of Alberta, Canada. His research interests include mechanisms and robotics, mechanical system dynamics, and marine equipment dynamics and control

Tang Chao　Associate Professor at the College of Engineering, Ocean University of China. He received his Ph.D. degree in Mechanical Engineering from Xi’an Jiaotong University in 2019. He conducted postdoctoral research at Tsinghua University. His research interest covers the design of novel robotic systems. Corresponding author of this paper

摘要

摘要: 受自然界多关节生物运动机理的启发, 针对当前仿生管道机器人面临的结构紧凑性以及运动速率的问题, 本文设计了一种新型仿生多关节管道检测机器人. 该管道机器人采用多关节串联与可变构型设计, 在保证管道机器人环境适应性的情况下, 提高了管道机器人运动速率和结构的紧凑性. 管道机器人在最大伸展状态下的外观尺寸为446 mm×80 mm×71.2 mm (长×宽×高) . 通过对管道机器人进行几何通过性分析, 确定其适用的管道范围: 在仅含竖直管的情况下, 适应管径为108 mm ~ 163 mm、在仅含水平管且无弯曲段时, 最小适应管径为108 mm、在含有水平弯曲段时, 最小适应管径增至213 mm, 且对应的最小弯曲半径为26 mm. 开展了多种工况下的运动实验, 实验结果表明, 机器人在水平管道中的最大平均运动速度可达 107.5 mm/s, 并能够完成管径适应、翻滚运动、倾斜管道及直角弯管实验, 验证了仿生多关节管道检测机器人方案设计的可行性. 本文所提出的仿生多关节管道机器人为变管径管道检测机器人设计提供了借鉴.
- 管道检测 /
- 仿生设计 /
- 多关节机器人 /
- 变管径
Abstract: To address the challenges of pipeline inspection in diverse application scenarios, a novel bionic multi-joint pipeline inspection robot has been designed. Inspired by multi-joint organisms in nature, the robot employs a multi-joint structural design that enables variable body postures. In its fully extended state, the robot’s overall dimensions are 446 mm×80 mm×71.2 mm (length × width × height), while in its fully contracted state, the dimensions are 336.5 mm×80 mm×142.64 mm. A geometric passability analysis was performed to determine the applicable pipeline ranges. The results indicate that the robot is suitable for pipe diameters of 108~163 mm in vertical straight pipelines, for diameters not less than 108 mm in horizontal straight pipelines without bends, and for diameters not less than 213 mm in horizontal pipelines with bends, with a corresponding minimum bend radius of 26 mm. To enhance operational efficiency and maneuverability, a dedicated upper-computer software system was developed. Finally, physical experiments were conducted in horizontal pipelines to evaluate the robot’s motion performance, and the results confirmed the feasibility of the proposed design.
- Pipeline inspection /
- Bionic design /
- Multi-joint robot /
- Variable pipe diameter

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图 1 管道机器人结构示意图

Fig. 1 Schematic diagram of pipeline robot structure

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图 2 管道机器人系统控制框图

Fig. 2 Pipeline robot system control block diagram

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图 3 管道机器人上位机界面

Fig. 3 Pipeline robot host computer interface

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图 4 管道机器人尺寸图与坐标图 ( (a) 正视图, (b) 侧视图)

Fig. 4 Dimensions and Coordinate System of the Pipeline Robot ((a) Front view, (b) Side view)

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图 5 机器人在直线管道中的极限示意图

Fig. 5 Schematic diagram of the limitations of pipeline robots in straight pipelines

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图 6 管道机器人在90°弯道中的极限位置

Fig. 6 Limit position of pipeline robot in 90°bend

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图 7 管道机器人的受力分析

Fig. 7 Force Analysis of the Pipeline Robot

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图 8 不同管径下管道机器人的状态与翻滚运动 ((a) 110 mm管道伸长状态; (b) 170 mm管道收缩状态; (c) 起点: 0°; (d) 终点: 180°)

Fig. 8 States and rolling motion of the pipeline robot under different pipe diameters ((a) 110 mm pipe in extended state; (b) 170 mm pipe in retracted state; (c) Starting point: 0°; (d) End point: 180°)

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图 9 水平和倾斜管道工况下管道机器人直线运动实验 ( (a) 水平管道实验; (b) 倾斜管道实验1; (c) 倾斜管道实验2; (d) 倾斜管道实验3; (e) 砂纸管道实验; (f) 低碳钢管道实验)

Fig. 9 Straight-line motion experiments of the pipeline robot under horizontal and inclined operating conditions ((a) Horizontal pipe experiment; (b) Inclined pipe experiment 1; (c) Inclined pipe experiment 2; (d) Inclined pipe experiment 3; (e) Sandpaper pipe experiment; (f) Mild steel pipe experiment)

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图 10 水平和倾斜管道工况下机器人运动实验结果

Fig. 10 Experimental results of robot motion under horizontal and inclined pipeline conditions

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图 11 管道机器人90°弯曲管道实验

Fig. 11 Pipe robot 90° pipe bending experiment

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表 1 不同仿生多关节管道机器人对比分析

Table 1 Comparison of different snake-like pipe robots

研发单位或作者	适应管道尺寸	最大体长	关节数/单个关节最大尺寸	水平运动速度
Selvarajan A等^[18]	\	1000 mm	10/ \	195 mm / s
Trebuňa F等^[19]	\	1045 mm	10/ 102 mm	\
北京交通大学^[20]	\	1291.5 mm	21/61.5 mm	13.7 mm / s
于阳光等^[21]	80 mm ~ 100 mm	310 mm	3/ \	5 mm / s
陈双叶等^[22]	150 mm ~ 300 mm	500 mm	3/ \	\

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表 2 D-H参数

Table 2 D–H Parameter

$i $	$a_i $	$d_i $	$\theta _i $
1	$l_1 $	0	$\theta _1 $
2	$l_2 $	0	$\theta _2 $
3	$l_3 $	$d_3 $	$\theta _3 $
4	$l_4 $	0	$\theta _4 $
5	$l_5 $	$d_5 $	$\theta _5 $

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表 3 管道弯曲半径和管道内直径计算结果表

Table 3 Table of calculated results for pipe bending radius and inner diameter

参数	$l_{max} $	$a_{max} $
$R_{min} $	143 mm	25.61 mm
$D_{min} $	235.4 mm	212.33 mm

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