Research On Small Diameter Tunneling Robot Based On Petal Deployment Mechanism

With the deepening of human research on science and technology,there are more and more research types of robots,especially the research on bionic robots.One important direction is the research on continuous bionic robots.However,most of the traditional discrete continuous robots are equipped with multiple distributed driving sources to complete the dexterous movement of the robot,resulting in the relative complexity of their control system.Most of the existing continuous robots are driven by flexible materials,such as gas drive,artificial muscle,hydraulic system,memory alloy,rope and other flexible drive systems,which makes it difficult to accurately establish the mathematical model of the robot system and meet the working conditions of special environments such as extreme temperature and vacuum.In view of the shortcomings of the existing continuous bionic robot,this paper introduces the rigid origami mechanism based on the petal unfolding mechanism into the research of the continuous peristaltic robot,and proposes a new continuous peristaltic robot driven by a single motor.The robot has compact structure and simple control.It can realize the peristaltic function under the drive of a single motor,and can creep in the required environment.The main research work of this paper is as follows: firstly,through literature research,the types of continuous robot configurations are sorted out.Through the analysis of the coupling six half ring telescopic mechanism based on the petal deployment mechanism,a new rigid origami peristaltic mechanism is proposed,and a continuous small-diameter tunnel boring robot is designed based on the mechanism.Then,the motion characteristic analysis,kinematics,parameter optimization and mechanics research are carried out for the robot.The structure of the robot is optimized by Solid Works,the simulated motion experimental research is completed by Adams,and the static analysis of the robot is carried out by ANSYS analysis software.Finally,the experimental prototype of the continuous tunneling robot is developed,and the experimental platform is built to carry out the corresponding experiments,which verifies the stability of the robot in the process of creeping forward,and the feasibility of the rigid origami mechanism based on the petal unfolding mechanism as the creeping system of the bionic worm robot.