A Novel Worm-like In-Pipe Robot with the Rigid and Soft Structure
作者机构：Tianjin Key Laboratory of Integrated Design and On-Line Monitoring for Light Industry&Food Machinery and EquipmentCollege of Mechanical EngineeringTianjin University of Science and TechnologyTianjin300222China The Key Laboratory of Bionic EngineeringMinistry of EducationJilin UniversityChangchun130022China National Institute of InnovationAcademy of Military SciencesBeijing100026China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2023年第20卷第6期
页 面：2559-2569页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：National Natural Science Foundation of China,52005369 Open Project Fund of Tianjin Key Laboratory of Integrated Design and Online Monitoring of Light Industry and Food Engineering Machinery and Equipment,2020LIMFE05
主 题：In-pipe robot Bionic design Rigid and soft structure Mechanical characteristics
摘 要：Soft in-pipe robot has good adaptability in tubular circumstances,while its rigidity is insufficient,which affects the traction *** paper proposes a novel worm-like in-pipe robot with a rigid and soft structure,which not only has strong traction ability but also flexible mobility in the shaped *** the structure features of the earthworm,the bionic in-pipe robot structure is designed including two soft anchor parts and one rigid telescopic *** soft-supporting mechanism is the key factor for the in-pipe robot excellent performance,whose mathematical model is established and the mechanical characteristics are analyzed,which is used to optimize the structural *** prototype is developed and the motion control strategy is *** performances of the in-pipe robot are tested,such as the traction ability,moving velocity and *** comparative analysis,different operating scenarios are built including the horizontal pipe,the inclined pipe,the vertical pipe and other unstructured *** experiment results show that the in-pipe robot is suitable for many kinds of pipe applications,the average traction is about 6.8N,the moving velocity is in the range of 9.5 to 12.7 mm/s.
维普期刊数据库