Research and Simulation on Principle of Walking Driving Mechanism for In-Pipe Worming Robot
Abstract
Aiming at the problem of large drag force of robot in narrow pipe space, a new type walking driving mechanism of in-pipe worming robot was proposed in this paper. The main force-exerting driving is an incomplete gear-rack mechanism, it has the characteristics of high transmission efficiency and good manufacturability. The walking principle and walking step-speed and drag force had been analyzed. When virtual prototype established the simulation experiments analysis were completed, the numerical results are in good agreement with the theoretical analysis, to a certain extent, the rationality and feasibility of the new type walking driving mechanism proposed of in-pipe worming robot had been verified, these provide the basis foundation for the manufacture of physical prototype.
Keywords
Pipe robot, Walking driving mechanism, Drag force, Virtual prototype, Simulation analysis
DOI
10.12783/dtmse/ameme2020/35539
10.12783/dtmse/ameme2020/35539
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