Application of axiomatic design method in in-pipe robot design

摘要

The traction ability of existing in-pipe robots is coupled with the velocity and up limited by the friction between robot and the inner wall of pipeline. In order to deal with this problem, this paper applies the Axiomatic design (AD) theory in evaluation of existing in-pipe robots, and then presents a new concept of in-pipe robot as well as its complete AD based design process. The traditional paradox was found to be caused by non-uncoupled designs. The maximum traction ability of proposed in-pipe robot was calculated and compared with that of the others in order to demonstrate the improved capability. The preliminary results of this work exhibit a successful application of AD in in-pipe robot design, which makes it possible that the moving velocity and traction ability can be designed or adjusted individually. As a result, the traction ability breaks the traditional superior limit.