工程设计学报2025，Vol.32Issue(1)：72-81,10.DOI:10.3785/j.issn.1006-754X.2025.04.101
基于Kresling折纸结构的软体管道机器人设计
Design of soft pipeline robot based on Kresling origami structure
摘要
Abstract
Aiming at the limitations of traditional rigid pipeline robots such as large volume and poor adaptability to unstructured environments,a soft pipeline robot based on Kresling origami structure is designed.Inspired by peristaltic crawling mode,the soft pipeline robot employed a tower spring-Kresling origami structure as the telescopic structure and silicone friction belts as the friction structure.The robot achieved a maximum payload of 5.9 times its own mass,a horizontal crawling speed of 25.14 mm/s and a crawling speed of 9.96 mm/s in vertical pipelines.Then,the effects of the telescopic structure type,the shrinkage length,material and angle parameters of Kresling origami structure,and the friction force on the robot·s crawling speed were analyzed.Finally,the robot prototype was fabricated and the feasibility of the robot crawling in pipelines with different inner diameters,inclination angles and shapes was demonstrated through experiments.The results showed that the designed robot had good adaptability and flexibility,and could use the compliance of Kresling origami structure to adapt to the complex pipeline environment,which provided a novel way for pipeline detection,maintenance and other applications.关键词
Kresling折纸结构/软体管道机器人/伸缩结构/摩擦结构/柔顺性Key words
Kresling origami structure/soft pipeline robot/telescopic structure/friction structure/compliance分类
机械工程引用本文复制引用
韩伟涛,温涛,刘磊,胡俊峰..基于Kresling折纸结构的软体管道机器人设计[J].工程设计学报,2025,32(1):72-81,10.基金项目
国家自然科学基金资助项目(52165011) （52165011）
江西省自然科学基金资助项目(20212BAB204028) （20212BAB204028）
江西省自然科学基金重点项目(联合资助)(20202ACBL204009) （联合资助）
