LOCOMOTION SYSTEM DESIGN AND DYNAMICS ANALYSIS OF A NEW TELESCOPIC MINIATURE IN-PIPE ROBOT

Yongmei Zhu, Xiaoyan Sun, and Xinguo Wang

Keywords

Miniature inpipe robot, locomotion system, conceptual design,dynamics analysis and simulation

Abstract

A telescopic miniature in-pipe robot based on the continuous cam drive, crutch of the tensioning mechanism and ratchet self-locking to realize creep is developed in this paper, which features high tractive force and payload capacity, adapting to pipe diameter or roundness variations. It is suitable for locomotion and inspection in the inner small-diameter pipelines. Firstly, the conceptual design of this miniature robot is proposed, and its relevant locomotion principle is introduced in detail. Then the dynamic model based on spatial operator algebra is built to deduce the driving force. Secondly, to prove its feasibility and running conditions, the virtual prototype simulation is carried out for the robot based on the results obtained above. Thirdly, the miniature pipe robot is simulated in straight and bends by using the automatic dynamic analysis of mechanical systems (ADAMS) to understand its kinematic and dynamic behaviour. Finally, the results show that the telescopic miniature in-pipe robot walking mechanism is efficient, stable and easy to control.

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