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Performance analysis and parameter optimization of an inner spiral in-pipe robot

Published online by Cambridge University Press:  20 June 2014

Liang Liang ,
Hui Peng ,
Bai Chen ,
Yong Tang ,
Sun Chen  and
Yan Xu
Liang Liang*
Affiliation:
Department of Mechanical & Electrical Engineering, Changsha University, Changsha 410022, China
Hui Peng*
Affiliation:
College of Information Science and Engineering, Central South University, Changsha 410083, China
Bai Chen*
Affiliation:
Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Yong Tang*
Affiliation:
Department of Mechanical & Electrical Engineering, Changsha University, Changsha 410022, China
Sun Chen*
Affiliation:
Xin Hua Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, Shanghai 200092, China
Yan Xu*
Affiliation:
Department of Mechanical & Electrical Engineering, Changsha University, Changsha 410022, China
*
*Corresponding author. E-mail: [email protected]
E-mails: [email protected]
[email protected]
[email protected]
[email protected]
[email protected]
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Summary

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.

Keywords

Computational fluid dynamicsInner spiral in-pipe robotsOrthogonal optimizationPulsating blood flow
Type
Articles
Information
Robotica , Volume 34 , Issue 2 , February 2016 , pp. 361 - 382
Copyright
Copyright © Cambridge University Press 2014 

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