基于一种弹簧联轴节的管内蠕动机器人弯道通过性分析
Passing Ability Analysis of Crawling In-pipe Robot with a Spring Coupling through Bending Pipe

针对目前国内外管内蠕动机器人对弯道连续工作能力不理想的问题，提出了一种可以在不同曲率管道内部行进的一种弹簧联轴节管内蠕动机器人的转弯机构。通过对这种管内蠕动机器人及其转弯机构组成、工作原理、位姿以及运动几何分析，得出其在不同曲率管道运动特性的相关公式，利用Adams对其进行仿真分析，验证相关理论分析，进而确定弹簧联轴节管内蠕动机器人转弯机构的各项设计参数的相关理论准则。
Aiming at the issues that the traveling of the continuous ability to work on the curved pipes between home and abroad, we propose a turning mechanism that the tube peristaltic robot with a spring coupling can move in different curvature pipeline. With the analysis of the robot's structure, working principle, position posture and motion geometry, we obtain the related formulas of movement characteristics in different curvature pipes. Simulation analysis is made on the robots to verify the related theoretical analysis so as to determine all design parameters of the turning mechanism' relating theory principles of the crawling in-pipe robot with a spring coupling