A Metamorphic Robot Suitable for Rigid Miniature Pipelines
To address the limited adaptability of traditional pipeline robots in complex work environments, a design proposal was introduced for a shape memory alloys (SMA) driven peristaltic metamorphic robot suitable for rigid miniature pipelines. This robot was capable of shape transformation to enable turn...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails?columnId=67634247&Fpath=home&index=0 |
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| _version_ | 1841546911059804160 |
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| author | Jia Xiaoli Dai Jingting Mi Baichuan Dan Jiale Ke Liaoliang |
| author_facet | Jia Xiaoli Dai Jingting Mi Baichuan Dan Jiale Ke Liaoliang |
| author_sort | Jia Xiaoli |
| collection | DOAJ |
| description | To address the limited adaptability of traditional pipeline robots in complex work environments, a design proposal was introduced for a shape memory alloys (SMA) driven peristaltic metamorphic robot suitable for rigid miniature pipelines. This robot was capable of shape transformation to enable turning after metamorphosis. Dynamic simulations and analysis of the robot's crawling and turning processes were performed using Adams software. This involved obtaining torque profiles and velocity, displacement curves over time, thereby confirming the stability of the robot's motion. Finally, a prototype was constructed and motion experiments were conducted within simulated "L"-shaped and three-way junction pipeline environments, confirming the metamorphic robot's excellent pipeline traversal capability. |
| format | Article |
| id | doaj-art-d540899e41eb4d2584aa00ba05164434 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-d540899e41eb4d2584aa00ba051644342025-01-10T15:01:19ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-01-011967634247A Metamorphic Robot Suitable for Rigid Miniature PipelinesJia XiaoliDai JingtingMi BaichuanDan JialeKe LiaoliangTo address the limited adaptability of traditional pipeline robots in complex work environments, a design proposal was introduced for a shape memory alloys (SMA) driven peristaltic metamorphic robot suitable for rigid miniature pipelines. This robot was capable of shape transformation to enable turning after metamorphosis. Dynamic simulations and analysis of the robot's crawling and turning processes were performed using Adams software. This involved obtaining torque profiles and velocity, displacement curves over time, thereby confirming the stability of the robot's motion. Finally, a prototype was constructed and motion experiments were conducted within simulated "L"-shaped and three-way junction pipeline environments, confirming the metamorphic robot's excellent pipeline traversal capability.http://www.jxcd.net.cn/thesisDetails?columnId=67634247&Fpath=home&index=0Miniature pipelinePipeline robotMetamorphic mechanismAdams software |
| spellingShingle | Jia Xiaoli Dai Jingting Mi Baichuan Dan Jiale Ke Liaoliang A Metamorphic Robot Suitable for Rigid Miniature Pipelines Jixie chuandong Miniature pipeline Pipeline robot Metamorphic mechanism Adams software |
| title | A Metamorphic Robot Suitable for Rigid Miniature Pipelines |
| title_full | A Metamorphic Robot Suitable for Rigid Miniature Pipelines |
| title_fullStr | A Metamorphic Robot Suitable for Rigid Miniature Pipelines |
| title_full_unstemmed | A Metamorphic Robot Suitable for Rigid Miniature Pipelines |
| title_short | A Metamorphic Robot Suitable for Rigid Miniature Pipelines |
| title_sort | metamorphic robot suitable for rigid miniature pipelines |
| topic | Miniature pipeline Pipeline robot Metamorphic mechanism Adams software |
| url | http://www.jxcd.net.cn/thesisDetails?columnId=67634247&Fpath=home&index=0 |
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