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Design, Analysis, and Optimization Testing of a Novel Modular Walking Device for Pipeline Robots
- Source :
- Machines, Vol 12, Iss 10, p 718 (2024)
- Publication Year :
- 2024
- Publisher :
- MDPI AG, 2024.
-
Abstract
- This article investigates the limitations associated with traditional wheel-type pipeline walking devices, which are characterized by a single movement mode and an inability to navigate complex or irregular pipeline structures. A modular walking device (MWD) designed for pipeline robots was developed utilizing structural and mechanical analysis techniques. The reliability of the mechanical analysis was validated through single-factor dynamic testing. To analyze and optimize the factors influencing the maneuverability and obstacle-crossing capabilities of the MWD, a three-factor, three-level orthogonal testing method was utilized. The factors examined included the rotational speed of the walking wheel (RS), the pre-tightening force of the wheel brackets (PF), and the height of the annular obstacle (OH). The evaluation metrics used were the slip rate and passability. The results indicated that a parameter combination of RS at 70 rpm, PF at 30 N, and OH at 10 mm produced a slip rate of 11.6% ± 1.5%. During the obstacle traversal process, the remainder of the device maintained a safe distance from the obstacles, with only the walking wheel making contact. The verification testing also confirmed that the MWD is capable of executing three distinct modes of motion: rectilinear, rotational, and helical. The MWD designed and developed in this study can switch between multiple motion modes and successfully overcome obstacles within 15 mm, providing a new equipment for universities to enhance mechanized pipeline detection technology.
Details
- Language :
- English
- ISSN :
- 20751702
- Volume :
- 12
- Issue :
- 10
- Database :
- Directory of Open Access Journals
- Journal :
- Machines
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.45ec868466454f4eaab1d060cb76e89f
- Document Type :
- article
- Full Text :
- https://doi.org/10.3390/machines12100718