Design of a Novel Micro Robot In-pipe

摘要

A novel micro in-pipe robot with a propeller is proposed in this paper, it is a robot that can actively move. The dynamic model of the robot in the liquid pipeline is established, and the computational fluid dynamics method is used to solve the influence of some parameters on the robotic performance. By the simulation of different propellers in liquid, the optimal parameters are obtained. According to the working principle of the propeller, a propeller driving device is designed and fabricated, and the running experiment in the pipeline full of water verifies the feasibility of the proposed robot.