Dynamical Modeling of Chain Pipeline Robot Passing Through Elbow

Abstract

In order to depict the influence of elbow on the design parameters of the pipeline robot, the dynamical characteristics of the chain pipeline robot based on the multi-module unit which connected by double-end hooke joint were studied. By establishing the mathematical model describing the elbow passing of the chain pipeline robot, the geometrical constraints on the elbow pipe were analyzed and the design basis on the structure dimension of the double-end hooke joint and module unit was obtained. A virtual simulation model of chain pipe robot is adopted to simulate the change of self- swing angle of the double-side hooke joint in a pipe with multi-angle pipe bend. The results show that it is reasonable to improve the traveling-capability of chain pipeline robot by reducing the size of the sealed connectors and cables or decreasing the interference degree of the hinge frame.