Research Papers

Kinematics and Force Analysis of Flexible Screw Mechanism for a Worm Robot

[+] Author and Article Information
Yanheng Zhang

Automation School,
Beijing University of Posts and
Beijing, China No 10,
Xitucheng Road, Haidian District,
Beijing 100876, China
e-mail: zyh620@bupt.edu.cn

Jian Xu

Automation School,
Beijing University of Posts and
Beijing, China No 10,
Xitucheng Road, Haidian District,
Beijing 100876, China
e-mail: jianxumail@163.com

Wei Wang

School of Mechanical Engineer and Automation,
Beihang University,
No. 37 Xueyuan Road,
Haidian District,
Beijing 100083, China
e-mail: jwwx@163.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received November 6, 2017; final manuscript received August 13, 2018; published online September 17, 2018. Assoc. Editor: Shaoping Bai.

J. Mechanisms Robotics 10(6), 061005 (Sep 17, 2018) (7 pages) Paper No: JMR-17-1383; doi: 10.1115/1.4041256 History: Received November 06, 2017; Revised August 13, 2018

This paper presents a new type of flexible screw mechanism (FSM), which is composed of a nut, flexible axle, and roller. It can be used in a worm robot to achieve flexible peristaltic motion, as well as curvilinear motion and deformation. This type of FSM uses a roller to decrease the friction. We investigated the transmission principle and the kinematic characteristics of this FSM, established the model of the velocity, acceleration of the roller, characterized the feed motion characteristics of the flexible shaft, and achieved an analytical solution of the flexible shaft's velocity. Furthermore, by considering the position of the pure rolling section of the roller, the spin slide model is proposed based on Hertz theory. To investigate the friction loss between the roller and the flexible axle, we established a friction work model of the entire FSM system. Finally, the motion characteristics of the FSM are evaluated through experiments.

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Fig. 4

Cartesian coordinate system

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Fig. 3

The roller spiral model

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Fig. 2

The newly designed FSM

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Fig. 1

The flexible squirm pipe robot

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Fig. 9

Force analytical graph of the roller

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Fig. 6

Screw pitch in different parts

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Fig. 8

The influence of load on vN under different unit axial stiffnesses

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Fig. 12

Roller with spherical end

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Fig. 10

Numerical simulation of x

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Fig. 11

Friction force distribution and the displacement on the contact line

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Fig. 13

Experimental platform for FSM

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Fig. 14

The FSM with encoder installed on the roller

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Fig. 15

Roller angular velocity under 0.5 kg load

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Fig. 16

Roller angular velocity under 2.5 kg load

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Fig. 17

Roller angular velocity under 5.0 kg load

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Fig. 7

Numerical simulation of vN



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