Dynamic characteristics analysis for an in-pipe robot driven by pressure difference based on CEL approach
JIANG Xudong1, SUN Qihai1, TENG Xiaoyan2
1.School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China;
2.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Abstract：Aiming at the problem of fluid-structure interaction between flexible multi-body system of an in-pipe robot driven by pressure difference and pipe’s internal flowing fluid, the robot system’s fluid-structure interaction dynamic model was established based on the coupled Euler-Lagrange (CEL) approach to obtain structural dynamic responses of the robot operating in the complicated pipe.Stress field of sealing cup, friction between pipe and robot, and driving pressure difference exerted on robot by fluid under different pipe internal radius and robot segment length, respectively were analyzed contrastively.The numerical results indicated that peak driving pressure difference appears during robot initially entering pipe and reappears with fluctuation of robot motion velocity and change in pipeline topology; when robot is at pipe’s small curvature radius bend, sealing cup experiences strong localized squeeze to form peak equivalent stress, but friction drops to vale value due to clearance between sealing cup and bend; with decrease in pipe’s inner radius, equivalent stress of sealing cup, average friction and average driving pressure difference increase; with increase in robot segment length, equivalent stress of sealing cup, average friction and average driving pressure difference increase.
江旭东1,孙其海1，滕晓艳2. 基于CEL方法的压差驱动式管道机器人动力特性分析[J]. 振动与冲击, 2019, 38(23): 259-264.
JIANG Xudong1, SUN Qihai1, TENG Xiaoyan2. Dynamic characteristics analysis for an in-pipe robot driven by pressure difference based on CEL approach. JOURNAL OF VIBRATION AND SHOCK, 2019, 38(23): 259-264.
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