摘要：The distribution of internal defects in large-diameter steel pipes can be complicated. Due to the harsh working environments involved, the manual grinding method for correcting such defects is inaccurate, inefficient, and risky. Therefore, in this study, we designed a new internal pipe grinding robot with five degrees of freedom. The grinding trajectory was optimized, and dynamic and kinematic models of the robot were established for the internal space of a pipe with a diameter between 800 and 1,200 mm. The feasibility of the robot was verified by simulation. A trajectory optimization method that focuses on the time, energy, and impact of the trajectory of the grinding robot is proposed. The method uses modified multiobjective particle swarm optimization (MMOPSO) in the robot's trajectory planning module to obtain a Pareto solution set. The analytic hierarchy process is used with the minimum fuzzy entropy (AHP-MFE) method in the decision-making module to select the most appropriate trajectory according to the relevant working conditions. The experimental results validated the space accessibility and trajectory optimization performance. Compared with the original trajectory, operation time was shortened by 15.4%, energy consumption was reduced by 17.5%, and impact was reduced by 12.4%. The experimental error was less than 2.8%. The experimental results showed that the pipe grinding robot is safe and efficient.

关键字：Large-diameter steel pipe; Pipe grinding robot; Trajectory optimization; Modified multi objective particle swarm optimization (MMOPSO); Analytic hierarchy process-minimum fuzzy entropy (AHP-MFE)

ISSN号：1949-1190

卷、期、页：卷15期3

发表日期：2024-08-01

影响因子：0.000000

期刊分区（SCI为中科院分区）：四区

收录情况：SCI（科学引文索引印刷版）,EI（工程索引）,SCIE（科学引文索引网络版）

发表期刊名称：JOURNAL OF PIPELINE SYSTEMS ENGINEERING AND PRACTICE

通讯作者：严洲宇,苗兴园,高博轩

第一作者：赵弘

论文类型：期刊论文

论文概要：严洲宇,赵弘,苗兴园,高博轩，Design and Trajectory Optimization of a Large-Diameter Steel Pipe Grinding Robot，JOURNAL OF PIPELINE SYSTEMS ENGINEERING AND PRACTICE，2024，卷15期3

论文题目：Design and Trajectory Optimization of a Large-Diameter Steel Pipe Grinding Robot