CAJ | 학술논문

提出了一种内螺旋管道机器人(简称内螺旋机器人)。设计了该机器人的结构，建立了机器人的动力学方程，数值计算了机器人在管道内运行时管道内壁所受的压力、机器人的轴向推进力和液体对机器人的周向阻力矩。结果表明，当驱动为外磁场驱动时，内螺旋机器人轴向推进力和周向阻力矩都会增大，但对管道壁的损伤也会增大。以机器人轴向推进力和能效指标为优化目标，采用正交优化方法得到一组最优的内螺旋槽几何参数。根据内螺旋机器人的工作原理，设计制造了内螺旋驱动样机，该样机在充满201甲基硅油管道中的运行实验证明了内螺旋机器人的可行性。提出的内螺旋机器人表面光滑，能悬浮运行，对管壁的损伤小，可用于人体内腔的微细管道中。
제출료일충내라선관도궤기인(간칭내라선궤기인)。설계료해궤기인적결구，건립료궤기인적동역학방정，수치계산료궤기인재관도내운행시관도내벽소수적압력、궤기인적축향추진력화액체대궤기인적주향조력구。결과표명，당구동위외자장구동시，내라선궤기인축향추진력화주향조력구도회증대，단대관도벽적손상야회증대。이궤기인축향추진력화능효지표위우화목표，채용정교우화방법득도일조최우적내라선조궤하삼수。근거내라선궤기인적공작원리，설계제조료내라선구동양궤，해양궤재충만201갑기규유관도중적운행실험증명료내라선궤기인적가행성。제출적내라선궤기인표면광활，능현부운행，대관벽적손상소，가용우인체내강적미세관도중。
A novel inner spiral in-pipe robot was proposed.The structure of the robot was de-signed,and the dynamics equations of the robot were established.When the robot run in the pipe filled with liquid,the pressure to the pipe wall,the robotic axial thrust force and the robotic circumferential resisting moment were analyzed numerically.The results show that the robot is driven by the external magnetic field,the robotic axial thrust force and the robotic circumferential resisting moment all in-crease and the damage to the pipe wall is also aggravated.In order to optimize the robotic axial thrust force and the robot energy efficiency index,the orthogonal experimental optimization method was used,and the optimal inner spiral geometric parametrical combination was obtained.According to the working principles of the inner spiral robot,an inner spiral driving device was designed and fabricated, and the running experiments in the pipe full of 201 methyl silicone oil proved the feasibility of the pro-posed robot.The proposed inner spiral robot has smooth surfaces and can be suspended to run.As the damage to the pipe is small,the robot can be used in tiny human pipes.