Mechanical Analysis and Dynamic Simulation of Ship Micro In-pipe Robot

摘要

A new design scheme of ship micro in-pipe robot is proposed where both complex working environment inside ship boiler flue and limitations from traditional cleaning methods. By two groups of three-claw cylinders and transmission device to coordinate the action, the peristaltic movement of the robot is realized. Multi-module design method is used to make the overall structure of the robot more compact, and to improve the working and driving ability in a small space. In this paper driving condition of the robot in vertical pipeline is mainly studied, and the regulating characteristics of the driving wheel is used to adapt to different pipe diameters. Dynamic analysis and simulation are completed based on Newton-Euler equation, and the objects include joints, guide wheels end and driving characteristics of the regulating mechanism. The results show that the regulating mechanism can help the robot to move under different pipe diameter, the guide wheels can maintain the expected contact force in the restricted direction when obstacles occur, and the driving force of the robot can meet the actual work requirements.