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

Table 1

Spring structural parameter.

Item	Value
Elastic modulus (EPa)	2 × 10^11
Poisson ratio ν	0.3
Shear modulus (GPa)	0.77 × 10^11
Radius of spring wire r (mm)	0.5
Normal radius of spring R (mm)	5
Active coils number n	8
Pitch l2 (mm)	10
Spring length L (mm)	80
Length of spring wire l (mm)	263.753
Helix angle θ0 (deg)	17.66