Design and Motion Analysis of an In-pipe Robot with Adaptability to Pipe Diameters

Abstract

Abstract: For the purpose of pipe inspection, an adaptive mobile mechanism is proposed and a robot based on this mechanism is designed and developed. Due to the unique transmission mechanism the robot has the adaptability to the change of pipe diameters, while number of the driving actuator does not increase. When the robot encounters a step, the adaptive mobile mechanism of the robot will change its working mode to surmount the obstacle. Compared to classical screw-driven robots, this robot does not employ the link-type configuration, but only uses one actuator to solve the low capability of surmounting obstacle. The observed rotation problem of the supporting parts is solved by the kinematical analysis of the robot. Basic experiments are performed to testify the adaptability and efficiency of the robot.

Key words: Adaptive mobile mechanism, In-pipe robot, Mechanical design, Motion analysis, Screw-driven

CLC Number:

TP242.3

LI Peng;MA Shugen;LI Bin;WANG Yuechao. Design and Motion Analysis of an In-pipe Robot with Adaptability to Pipe Diameters[J]. , 2009, 45(1): 154-161.

[1]	ZHAO Jiahao, ZI Bin, WANG Wei, LI Yuan, XU Feng. Mechanical Design and Workspace Analysis of a Rigid-flexible Hybrid Driven Parallel Spray-painting Robot [J]. Journal of Mechanical Engineering, 2023, 59(15): 28-39.
[2]	MA Long, SUN Han-xu, LI Ming-gang, SUN Ping, ZHANG Wei-zhen, LONG Bing-zheng, SHI Hui-wen. Design and Motion Analysis of a Spherical Robot Having the Ability to Change the Centroid Radially [J]. Journal of Mechanical Engineering, 2022, 58(5): 44-56.
[3]	GAO Haibo, ZHENG Junqiang, LIU Zhen, WANG Yabin, YU Haitao, DENG Zongquan. Design and Performance of a Wheel-legged Mobility System of Mars Rover [J]. Journal of Mechanical Engineering, 2019, 55(1): 1-16.
[4]	LI Te^{1, 2}, MA Shugen^{1, 3}, LI Bin¹, WANG Minghui¹, WANG Yuechao¹. Design and Motion Mechanism of a Screw Drive In-pipe Robot with Adaptability to In-pipe Environment [J]. Journal of Mechanical Engineering, 2016, 52(9): 9-17.
[5]	XIA Wenhan, WANG Kai, LI Yan, XIONG Yan. Innovative Design for Adaptive Detection Module of In-pipe Robot Based on TRIZ [J]. Journal of Mechanical Engineering, 2016, 52(5): 58-67.
[6]	YANG Tingli, SHEN Huiping, LIU Anxin, DAI Jiansheng. Review of the Formulas for Degrees of Freedom in the Past Ten Years [J]. Journal of Mechanical Engineering, 2015, 51(13): 69-80.
[7]	LI Jinglin, DING Xilun, ZHANG Wenming, CHU Chengcheng, WANG Kang. Design of a Multi-function Minor Planet Soil Sampler [J]. Journal of Mechanical Engineering, 2015, 51(13): 167-175.
[8]	LI Te;MA Shugen;LI Bin;WANG Minghui;WANG Yuechao. Control Strategies of Energy Optimization for an In-pipe Robot with Inclining-angle-adjustable Screw Rollers [J]. , 2014, 50(17): 8-16.
[9]	WANG Ping;ZHANG Guoyu;LIU Jiayan;LI Ming;GAO Yujun. Topology Optimization Design for Inner Frame of Airborne Electro-optical Platform [J]. , 2014, 50(13): 135-141.
[10]	WANG Guanglin;PAN Xudong;LI Yuefeng. Disposable Mechanical Element Design Theory and Applications [J]. , 2014, 50(1): 152-156.
[11]	WANG Guanglin;PAN Xudong;LI Yuefeng. Disposable Mechanical Element Design Theory and Applications [J]. , 2014, 50(1): 152-156.
[12]	LI Zhiqing;MA Shugen;LI Bin;WANG Minghui;WANG Yuechao. Development of a Transformable Wheel-track Robot with Self-adaptive Ability [J]. , 2011, 47(5): 1-10.
[13]	LI Decai. Design and Experiment of Magnetic Fluid Seal of Compressor Piston Rod [J]. , 2011, 47(10): 133-138.
[14]	LI Peng;MA Shugen;LI Bin;WANG Yuechao. Screw Drive In-pipe Robot with Axial and Circum-directional Inspection Ability [J]. , 2010, 46(21): 19-28.
[15]	XU Congqi;XIE Xuhui;DAI Yifan. Motion Stability Analysis of Micro In-pipe Robot with Frictional Contacts [J]. , 2010, 46(15): 36-44.

Design and Motion Analysis of an In-pipe Robot with Adaptability to Pipe Diameters

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments