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Performance analysis and parameter optimization of an inner spiral in-pipe robot
Liang Liang, Hui Peng, Bai Chen, Yong Tang, Sun Chen, Yan Xu
Journal:

Robotica / Volume 34 / Issue 2 / February 2016

Published online by Cambridge University Press:

20 June 2014, pp. 361-382
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A novel micro in-pipe robot using an internally threaded profile for propulsion is proposed in this paper, and the dynamic model of the robot in the turbulent liquid pipeline is established, and the computational fluid dynamics method is used to solve the influence of environmental parameters and operating parameters on the robotic performance. By the orthogonal experimental optimization method, the optimal inner spiral structural parametrical combination is obtained. According to the working principle of the inner spiral robot, an inner spiral driving device is designed and fabricated, and the running experiment in the pipeline full of 201 methyl silicone oil verifies the feasibility of the proposed robot. Adopting the pulsating blood flow function as the inlet condition, in a pulsating period, the robotic performance is numerically analyzed.