一种四螺旋管道机器人的转向分析

Steering analysis of a four-spiral in-pipe robot

基于提出的一种尾部带4个螺旋体的管道机器人,建立机器人运行时管道内流体的动力学方程,运用计算流体力学方法,数值分析当机器人尾部4个螺旋体螺旋方向左旋和右旋交替,旋转方向顺时针和逆时针交替时,机器人的轴向推进力和周向转矩等机器人性能指标。当该机器人需要转向时,计算设计了机器人尾部4个螺旋体的旋转方向组合。上述研究表明,这类多螺旋管道机器人可以实现任意转向。

This paper presents an in-pipe robot with four spiral bodies in its tail,and establishes dynamics equations of the fluid in the pipe when it runs. Using the computational fluid dynamics（CFD） method,the robotic axial thrust force and circumferential torque are numerically analyzed when the spiral directions of four spiral bodies alternate in left-handed and right-handed rotation with the rotational directions alternate clockwise and counterclockwise. When the robot is needed to change direction,the rotational directional combinations of the four spiral bodies are calculated and designed. The proposed research shows that such multi-spiral in-pipe robots can achieve steering arbitrarily.