Numerical Simulation of Bending Stiffness Analysis for Spring Linkage Applied to In-Pipe Robot

Jinwei Qiao and Na Liu

Mathematical Problems in Engineering, 2020, vol. 2020, 1-11

Abstract:

Spring linkage can be applied to in-pipe robots for connecting different modules together and can make it pass through elbows more easily. However, its stiffness cannot be set to be too hard or too soft. This paper tries to make a balance between the compressive stiffness and the bending stiffness of the spring. After a brief introduction to the construction mechanism and some assumptions, the mathematical representation of the spring bending stiffness was deduced based on the Kirchhoff theory which describes the spatial curve with displacement rather than time. Then, some simulations aiming at verifying the correctness of the deduced bending stiffness expression were carried out. Finally, the relationship between the two rigidities was found out, which helps to find a way to decrease the bending stiffness of spring while keeping its compressive stiffness strong enough.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6701696

DOI: 10.1155/2020/6701696

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