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A Novel Worm-like In-Pipe Robot with the rigid and soft structure

Journal of Bionic Engineering 2023年第6期20卷 2559-2569页

作者： Delei Fang Guofeng Jia Junran Wu Xiaoru Niu Pan Li Rong Wang Yan Zhang Junxia Zhang Tianjin Key Laboratory of Integrated Design and On-Line Monitoring for Light Industry&Food Machinery and Equipment College of Mechanical EngineeringTianjin University of Science and TechnologyTianjin300222China The Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityChangchun130022China National Institute of Innovation Academy of Military SciencesBeijing100026China

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.

关键词： In-pipe robot Bionic design rigid and soft structure Mechanical characteristics

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