机械科学与技术2025，Vol.44Issue(12)：2054-2062,9.DOI:10.13433/j.cnki.1003-8728.20230371
无系留缠绕式管线攀爬弹性体机器人
Pipeline Climbing Elastomeric Robot by Non-tethered Winding
摘要
Abstract
In order to solve the problem that the current pipeline climbing soft robot needs to be connected with external power source by tethered mode,in this paper,a micro-scale pipeline climbing elastomeric robot without tethered with a new driving mode is proposed.The robot is composed of two innovative trunk-like winding actuators and a retractable actuator.The feasibility of the scheme is verified by many climbing experiments on the surface of horizontal pipeline,vertical pipeline,variable diameter pipeline,curved pipeline,different cross sections and different materials pipelines.Compared with rigid robots,the elastomeric robot is lighter,smaller,and more adaptable.Compared with tethered soft robots,the elastomeric robot also effectively avoids the extra load caused by the connection line and the various motional troubles caused by the entanglement of the connection line with the pipeline or the robot itself.关键词
无系留/微小型/仿象鼻缠绕式致动器/弹性体机器人/管线攀爬Key words
without tethered/micro-scale/trunk-like winding actuators/elastomeric robot/pipeline climbing分类
信息技术与安全科学引用本文复制引用
WANG Wenwei,LU Zhengwang,PENG Jitao,WANG Zhimao,ZANG Hongbin..无系留缠绕式管线攀爬弹性体机器人[J].机械科学与技术,2025,44(12):2054-2062,9.基金项目
四川省科技厅高新领域重点研发计划(2022YFG0240) （2022YFG0240）
