Research Article
Numerical Simulation of Bending Stiffness Analysis for Spring Linkage Applied to In-Pipe Robot
Table 2
Character definition table.
| Notation | Meaning |
| E | Material elastic modulus | G | Material shear modulus | H1, h2 | The only two components of the outer diameter, corresponding to the mix and max deformation in each cross section | | Coordinate basis vectors of principle reference systems | | Coordinate basis vectors of general reference systems | Ix, Iy, Iz | Inertia moment around x-, y-, and z-axis | K | Spring compression stiffness | Kb | Spring bending stiffness | L | Spring wire length | l1 | Screw pitch of robot module | l2 | Screw pitch of spring | M | Acting moment | | General Descartes reference system | | Start point at bottom of spring | | Point along the axis of spring wire | | Principle coordinate system | | Local coordinate system | R | Spring wire radius | R | Spring nominal radius | S | Accumulated arc length | | Curvature vector | Α | Rotation angle about ζ-axis | Β | Rotation angle of the cross section around the tangential direction | Γ | Included angle | υ | Poisson ratio | Θ | Helix angle | θ 0 | Initial value of θ |
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