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Mechanical Analysis and Dynamic Simulation of Ship Micro In-pipe Robot

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Artificial Intelligence and Security (ICAIS 2020)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 12239))

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Abstract

A new design scheme of ship micro in-pipe robot is proposed where both complex working environment inside ship boiler flue and limitations from traditional cleaning methods. By two groups of three-claw cylinders and transmission device to coordinate the action, the peristaltic movement of the robot is realized. Multi-module design method is used to make the overall structure of the robot more compact, and to improve the working and driving ability in a small space. In this paper driving condition of the robot in vertical pipeline is mainly studied, and the regulating characteristics of the driving wheel is used to adapt to different pipe diameters. Dynamic analysis and simulation are completed based on Newton-Euler equation, and the objects include joints, guide wheels end and driving characteristics of the regulating mechanism. The results show that the regulating mechanism can help the robot to move under different pipe diameter, the guide wheels can maintain the expected contact force in the restricted direction when obstacles occur, and the driving force of the robot can meet the actual work requirements.

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Acknowledgement

This work was supported by the Zhoushan Science and Technology Bureau of Zhejiang Province of China (2018C31075, 2018C31088).

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Authors and Affiliations

  1. School of Ship and Mechanical and Electrical Engineering, Zhejiang Ocean University, Zhoushan, 316000, China

    Zhipeng Xu, Yuliang Liu, Han-de Mao & Sheng Chang

  2. Zhejiang Jiachang Engineering Technology Co, Ltd., Zhoushan, 316000, China

    Shuxun Li

Authors
  1. Zhipeng Xu
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  2. Yuliang Liu
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  3. Han-de Mao
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  4. Sheng Chang
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  5. Shuxun Li
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Corresponding author

Correspondence to Yuliang Liu .

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Editors and Affiliations

  1. Nanjing University of Information Science, Nanjing, China

    Xingming Sun

  2. Nanjing University of Information Science, Nanjing, China

    Jinwei Wang

  3. Purdue University, West Lafayette, IN, USA

    Elisa Bertino

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Xu, Z., Liu, Y., Mao, Hd., Chang, S., Li, S. (2020). Mechanical Analysis and Dynamic Simulation of Ship Micro In-pipe Robot. In: Sun, X., Wang, J., Bertino, E. (eds) Artificial Intelligence and Security. ICAIS 2020. Lecture Notes in Computer Science(), vol 12239. Springer, Cham. https://doi.org/10.1007/978-3-030-57884-8_57

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  • DOI: https://doi.org/10.1007/978-3-030-57884-8_57

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-57883-1

  • Online ISBN: 978-3-030-57884-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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