Dynamic Properties on Double Driving Articulated in-Pipe Robot Inspecting System

摘要

To solve the problem of increased resistance founded in prototype test for single traction articulated in-pipe robot inspecting system move inversely, a driving scheme with double driving in-pipe robots located in both ends of inspecting system has been put forward. For the deflection of hinge connection caused by the misaligned centroid position of each modular unit, the limited contact mechanics model between the modular unit and pipe wall is established, and the stability of movement of modular units moved in elbow pipe is analyzed by example. The simulation results verify the rationality of analysis process, to provide the basis for improving in-pipe robot inspecting system design.