Force Analyzing and Parameter Optimization of the Telescopic In-Pipe Robot

Abstract:

Typical wheeled or tracked robot could hardly apply to middle or small diameter underground pipelines laid by trenchless technology. Aiming at this kind of pipeline’s characteristics, this paper puts forward a basic structure of telescopic in-pipe robot. To provide necessary theoretical basis for the device selection, the mechanical model and force analyzing are given in detail. The speed of robot, as well as the motor torque of locking mechanism, could be expressed as the function of the robot’s structural parameters. As a result, the robot’s structural parameters take influence on its performance. In order to achieve the best performance, it is necessary to use the multi-objective optimization method to select these parameters. Using the genetic algorithm toolbox, the optimal solution of these parameters was obtained. Based on this, the motor torque of locking mechanism is minimum while the speed of the robot is maximum.

• Periodical: Applied Mechanics and Materials (Volumes 738-739)
• Pages: 941-945
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.738-739.941
• Online since: March 2015
• Authors: Di Qu, Hua Song*, Jing Sun
• Keywords: Force Analyzing, Genetic Algorithm (GA), In-Pipe Robot, Optimization

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DOI: 10.1061/9780784413142.049

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