Research On Origami Pipe Robot

In daily life,pipelines provide many conveniences for human beings as a transmission tool for liquids and gases,so pipeline inspection and maintenance are very important.The real-time detection and maintenance of the pipeline requires that the pipeline robot can move forward and backward inside the pipeline,so that it can reach any position inside the pipeline.Meanwhile,when reached the target position,the pipeline robot needs to hover to detect the target position.With a large inner diameter comes a large the inner space of the pipe,which makes the pipe robot have a large working space,large travel displacement and high anchoring stability.Besides,the large size and the complex linkage mechanism of the traditional pipeline robot itself make the traditional pipeline robot generate huge cost in the design and manufacturing process,and there are enormous difficulties in the maintenance process as well.In addition,to meet the needs of size,the traditional pipeline robot with complex mechanical structure is extremely inconvenience in the process of transportation and storage.To solve these mentioned problems,this paper proposes a modular pipe robot based on the principle of rigid paper-folding combined with metamaterials.Then conduct in-depth studies on design,analysis method and experimental verification of the modular pipeline robot proposed in this paper.The specific contents are as follows:The deployable anchor mechanism is proposed based on the principle of origami and the structural design method of traveling mechanism is proposed based on the principle of origami and paper cutting.The paper-folding anchoring mechanism and the paper-folding traveling mechanism are connected in series through a plurality of basic expandable module structures,and each basic expandable module structure is formed by repeating the basic units of the paper-folding pattern in different directions.The meta material traveling mechanism achieves the expected requirements of this paper by designing and transforming the original regular-shaped colloidal structure.Based on the principle of modularization,the overall structure design method of the modular pipeline robot is proposed.In this paper,the designed anchoring mechanism and traveling mechanism are regarded as the module structure of the overall pipeline robot.Through the reasonable axial arrangement of the anchoring and traveling module mechanism,the modular pipeline robot is designed and assembled as a whole,and the analysis and design of the driving state of the overall modular pipeline robot are carried out.The kinematic analysis of the basic expandable modular structure of the anchoring mechanism and the paper-folding traveling mechanism is carried out.Through the analysis of the structure of the expandable module and based on the spatial geometry theory,the overall constraint conditions of the anchoring mechanism and the paperfolding traveling mechanism are analyzed,and the relationship between the axial length and the circumferential radius of the anchoring mechanism during the axial expansion and contraction process is established.The kinematic equation of the relationship between the rotation angle and the axial length of the paper-folding traveling mechanism during the axial expansion and contraction process is established.Create a reasonable three-dimensional model in Solid Works environment,and carry out kinematic simulation in Adams to obtain the kinematic curves of two mechanisms respectively.Then erify the kinematic analysis results of the anchoring and paperfolding traveling mechanism in order to select the appropriate parameters to meet the expected requirements.Combined with the simulation verification results,the interference situation of the overall structure of the pipeline robot when it moves in the pipelines with different inner diameters is further analyzed accurately in CAD.The finite element limit stress analysis of the anchoring mechanism is carried out,and the stress under the preset maximum load is obtained to confirm its structural strength meet the requirements.The finite element force axial deformation analysis was carried out for the paper-folding and metamaterial traveling mechanism,and the relationship curve between force and deformation was obtained,and the relationship between force and other parameters was analyzed in-depth.The above designed structures are experimentally verified,the physical prototypes of the origami traveling pipeline robot and the kirigami traveling pipeline robot are assembled and controlled respectively,and the working performance of each mechanism and the performance of the two overall robots in each working state are tested.Verify and compare the performance advantages of the two modular pipeline robots in different operating environments,and complete the correct selection of the two modular pipeline robots under known operating environments.