Abstract
Considering small diameter pipes, a two-mass inertia pipeline robot driven by a non-circular gear is proposed to study the walking dynamics of the robot in an isotropic Coulomb friction environment. The mechanism principle of the two-mass inertia pipeline robot is given to illustrate the walking mechanism of the robot under the combined action of the internal force and the external isotropic coulomb friction force. A dynamic model of a two-mass impact pipeline robot driven by non-circular gear is established. The dynamic response of the robot is calculated to reveal the walking characteristics of the pipe-impact robot under nonharmonic inertial force by the numerical method. The results show that the moving speed of the robot wavelike decreases with the increase of the input speed. Increasing the eccentricity of the non-circular gear or the motor speed in an appropriate range can be effectively improved the moving speed of the robot.
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