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基于提出的一种尾部带4个螺旋体的管道机器人,建立机器人运行时管道内流体的动力学方程,运用计算流体力学方法,数值分析当机器人尾部4个螺旋体螺旋方向左旋和右旋交替,旋转方向顺时针和逆时针交替时,机器人的轴向推进力和周向转矩等机器人性能指标。当该机器人需要转向时,计算设计了机器人尾部4个螺旋体的旋转方向组合。上述研究表明,这类多螺旋管道机器人可以实现任意转向。
Based on the proposed pipeline robot with four spiral bodies at the tail, the dynamic equations of the fluid in the pipeline when the robot is operating are established. By using computational fluid dynamics (CFD) method, the helical directions of the four helixes are alternately rotated left and right, Clockwise and counterclockwise alternating, the robot’s axial propulsion and circumferential torque and other robot performance indicators. When the robot needs to turn, the combination of the rotational directions of the four helices in the tail of the robot is designed. The above study shows that this kind of multi-spiral pipe robot can achieve arbitrary steering.