机械科学与技术2025，Vol.44Issue(3)：412-420,9.DOI:10.13433/j.cnki.1003-8728.20230207
小孔径管道气动软体机器人设计及仿真分析
Design and Simulation of Pneumatic Soft Robot for Small Diameter Pipelines
摘要
Abstract
In recent years,soft robots have been used to probe the interior of narrow and complex pipelines.For application scenarios with small aperture and more T-shaped and L-shaped branch pipes,the motion efficiency and flexibility of soft robots in the pipeline face great challenges.For this problem,a small aperture pipeline pneumatic software robot is designed in this paper.Through Abaqus software,the design parameters of the robot are optimized,and the deformation performance is simulated and analysed under different actuators,and compared with other similar soft robot structures.The results show that the pipeline robot has good bending performance and extension performance,which can reduce the large deformation of the material and reduce the loss rate of the soft robot material.关键词
气动/软体机器人/小孔径管道/有限元分析/变形性能Key words
pneumatic/soft robot/small diameter pipes/finite element analysis/deformation properties分类
金属材料引用本文复制引用
江雨霏,朱其新..小孔径管道气动软体机器人设计及仿真分析[J].机械科学与技术,2025,44(3):412-420,9.基金项目
国家自然科学基金项目(51875380,62063010,51375323)、苏州市科技发展计划(SYG2024148)及苏州市科技计划(SJC2023002) （51875380,62063010,51375323）
