Design and implementation of peristaltic soft pipe robot

Authors

ZAHNG Yu, Shenyang University of Technology, School of Mechanical Engineering, Shenyang, Liaoning 110870 , China
WANG Ning, Shenyang University of Technology, School of Mechanical Engineering, Shenyang, Liaoning 110870 , China
ZHAO Wen-chuan, Shenyang University of Technology, School of Mechanical Engineering, Shenyang, Liaoning 110870 , China
LU Deng-yu, Shenyang University of Technology, School of Mechanical Engineering, Shenyang, Liaoning 110870 , China

Abstract

Based on the movement principle of the crawling worm in nature and the characteristics of its structure and movement, a soft pipe crawling robot is designed with the hexaprism driver and the cylindrical driver as the main body of the robot. Two kinds of motion modes of the robot in the pipeline are analyzed.By using the finite element analysis technology, the deformation of the hexagonal prism driver and the cylindrical driver are verified to meet the robot motion requirements. Finally, the motion parameters of the robot in different motion modes are obtained through experimental tests, and the motion performance of the robot is determined. The results show that the structure and motion mode of the robot are feasible.

Publication Date

7-28-2020

First Page

82

Last Page

86

DOI

10.13652/j.issn.1003-5788.2020.07.017

Recommended Citation

Yu, ZAHNG; Ning, WANG; Wen-chuan, ZHAO; and Deng-yu, LU (2020) "Design and implementation of peristaltic soft pipe robot," Food and Machinery: Vol. 36: Iss. 7, Article 17.
DOI: 10.13652/j.issn.1003-5788.2020.07.017
Available at: https://www.ifoodmm.cn/journal/vol36/iss7/17

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