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Design and Motion Analysis of a Flexible Squirm Pipe Robot

In order to meet the special requirements for the robot moving in the pipeline, an innovation robot mechanism which has flexible axle and self-steering device is proposed. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can...

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Main Authors:	Zhang Yanheng, Zhang Mingwei, Sun Hanxu, Jia Qingxuan
Format:	Conference Proceeding
Language:	English
Subjects:	Axles Legged locomotion mechanism design motion analysis peristaltic motion pipe robot Pipelines self-adaptive Springs Wheels
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creator	Zhang Yanheng Zhang Mingwei Sun Hanxu Jia Qingxuan
description	In order to meet the special requirements for the robot moving in the pipeline, an innovation robot mechanism which has flexible axle and self-steering device is proposed. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can be realized. The robot can adapt to the pipeline with different diameters by changing supporting mechanism automatically, and for its special shape the robot can also be driven by the pressure caused by the flowing liquid in pipe. All the functions of this robot are realized only by one motor, so the robot has simple structure and high utilization of motor. By the analyzing of the flexible helical springiest which is the key part of the robot and moving ability of the robot in different environment of pipe, the mechanism design of the robot is proved to be effective.
doi_str_mv	10.1109/ISDEA.2010.437
format	conference_proceeding
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By the analyzing of the flexible helical springiest which is the key part of the robot and moving ability of the robot in different environment of pipe, the mechanism design of the robot is proved to be effective.</description><identifier>ISBN: 1424483336</identifier><identifier>ISBN: 9781424483334</identifier><identifier>DOI: 10.1109/ISDEA.2010.437</identifier><identifier>LCCN: 2010943516</identifier><language>eng</language><publisher>IEEE</publisher><subject>Axles ; Legged locomotion ; mechanism design ; motion analysis ; peristaltic motion ; pipe robot ; Pipelines ; self-adaptive ; Springs ; Wheels</subject><ispartof>2010 International Conference on Intelligent System Design and Engineering Application, 2010, Vol.1, p.527-531</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c135t-97c184df1066fa3a3bf544c10600f6da832b2eaa8506f06a307beb9d108a9e093</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5743236$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2057,27924,54919</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5743236$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Zhang Yanheng</creatorcontrib><creatorcontrib>Zhang Mingwei</creatorcontrib><creatorcontrib>Sun Hanxu</creatorcontrib><creatorcontrib>Jia Qingxuan</creatorcontrib><title>Design and Motion Analysis of a Flexible Squirm Pipe Robot</title><title>2010 International Conference on Intelligent System Design and Engineering Application</title><addtitle>isdea</addtitle><description>In order to meet the special requirements for the robot moving in the pipeline, an innovation robot mechanism which has flexible axle and self-steering device is proposed. 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By the analyzing of the flexible helical springiest which is the key part of the robot and moving ability of the robot in different environment of pipe, the mechanism design of the robot is proved to be effective.</description><subject>Axles</subject><subject>Legged locomotion</subject><subject>mechanism design</subject><subject>motion analysis</subject><subject>peristaltic motion</subject><subject>pipe robot</subject><subject>Pipelines</subject><subject>self-adaptive</subject><subject>Springs</subject><subject>Wheels</subject><isbn>1424483336</isbn><isbn>9781424483334</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNotjctOwzAURC2hStDHlg0b_0CK7Ws7NruoLyq1AlFYV9eJjYzSpMRBon9PEMxmdM5ihpBbzuacM3u_PSxXxVywgSXkV2TMpZDSAIAekfGvtxIU19dkltIHG6K1NULdkIelT_G9odhUdN_2sW1o0WB9STHRNlCk69p_R1d7evj8it2JPsezpy-ta_spGQWsk5_994S8rVevi8ds97TZLopdVnJQfWbzkhtZBT58BgQEF5SU5YCMBV2hAeGERzSK6cA0Asudd7bizKD1zMKE3P3tRu_98dzFE3aXo8olCNDwA74gRbs</recordid><startdate>201010</startdate><enddate>201010</enddate><creator>Zhang Yanheng</creator><creator>Zhang Mingwei</creator><creator>Sun Hanxu</creator><creator>Jia Qingxuan</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201010</creationdate><title>Design and Motion Analysis of a Flexible Squirm Pipe Robot</title><author>Zhang Yanheng ; Zhang Mingwei ; Sun Hanxu ; Jia Qingxuan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c135t-97c184df1066fa3a3bf544c10600f6da832b2eaa8506f06a307beb9d108a9e093</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Axles</topic><topic>Legged locomotion</topic><topic>mechanism design</topic><topic>motion analysis</topic><topic>peristaltic motion</topic><topic>pipe robot</topic><topic>Pipelines</topic><topic>self-adaptive</topic><topic>Springs</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Zhang Yanheng</creatorcontrib><creatorcontrib>Zhang Mingwei</creatorcontrib><creatorcontrib>Sun Hanxu</creatorcontrib><creatorcontrib>Jia Qingxuan</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Zhang Yanheng</au><au>Zhang Mingwei</au><au>Sun Hanxu</au><au>Jia Qingxuan</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Design and Motion Analysis of a Flexible Squirm Pipe Robot</atitle><btitle>2010 International Conference on Intelligent System Design and Engineering Application</btitle><stitle>isdea</stitle><date>2010-10</date><risdate>2010</risdate><volume>1</volume><spage>527</spage><epage>531</epage><pages>527-531</pages><isbn>1424483336</isbn><isbn>9781424483334</isbn><abstract>In order to meet the special requirements for the robot moving in the pipeline, an innovation robot mechanism which has flexible axle and self-steering device is proposed. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can be realized. The robot can adapt to the pipeline with different diameters by changing supporting mechanism automatically, and for its special shape the robot can also be driven by the pressure caused by the flowing liquid in pipe. All the functions of this robot are realized only by one motor, so the robot has simple structure and high utilization of motor. By the analyzing of the flexible helical springiest which is the key part of the robot and moving ability of the robot in different environment of pipe, the mechanism design of the robot is proved to be effective.</abstract><pub>IEEE</pub><doi>10.1109/ISDEA.2010.437</doi><tpages>5</tpages></addata></record>
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identifier	ISBN: 1424483336
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language	eng
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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Axles Legged locomotion mechanism design motion analysis peristaltic motion pipe robot Pipelines self-adaptive Springs Wheels
title	Design and Motion Analysis of a Flexible Squirm Pipe Robot
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