Geometric Estimation of the Deformation and the Design Method for Developing Helical Bundled-Tube Locomotive Devices
Geometric Estimation of the Deformation and the Design Method for Developing Helical Bundled-Tube Locomotive Devices
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DOI：
10.1109/tmech.2017.2770140
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发表时间：
2018-02-01
影响因子：
6.4
通讯作者：
Takayama, Toshio
中科院分区：
文献类型：
--
作者：
Takeshima, Hirozumi;Takayama, Toshio
本文提出了一种新型的管内移动装置--“螺旋波纹管移动装置”的设计方法。“螺旋螺旋管机车装置是在管道中行驶的软机器人。该装置仅包括可充气管;其变形为螺旋形状并在具有气动动力的管道中行进。变形将装置推向管的内壁并在管中产生牵引力。因此，应确定变形的程度。本文提出的估计和基于估计的设计方法允许在不采用试错实验的情况下设计设备;通常需要试错实验。所提出的方法是快速和易于实施，并将有助于将该设备投入实际使用。所提出的方法是基于几何公式的变形的设备和组成该设备的管。该几何公式与材料的机械特性无关。我们还认为，开发的设计方法是独立于管的特性，以简化它。因此，所提出的方法可以适用于无论材料，形状，和个体差异的螺旋装置。
This paper presents a novel design method for an in-pipe locomotive device named "helical bundled-tube locomotive device." Helical bundled-tube locomotive devices are soft robots that travel in pipes. The device only comprises inflatable tubes; it deforms into a helical shape and travels in a pipe with pneumatic power. The deformation pushes the device toward the inner wall of the pipe and generates a traction force in the pipe. Therefore, the extent of deformation should be determined. The methods for estimation and estimation-based design, which this paper presents, allow for the device to be designed without employing trial-and-error experimentation; trial-and-error experimentation is ordinarily required. The proposed methods are quick and easy to implement, and will help in putting the device to practical use. The proposed methods are based on geometrical formulations of the deformations of the device and the tubes that compose the device. This geometrical formulation is independent of the mechanical characteristics of the material. We also considered the developed design method as being independent from the tube characteristics to simplify it. Accordingly, the proposed methods can be applied regardless of material, shape, and individual differences across helical devices.