Research Article
Numerical Simulation of Bending Stiffness Analysis for Spring Linkage Applied to In-Pipe Robot
| No. | Coil radius r (mm) | n | Helix angle θ0 (rad) | Compression stiffness K (N/m) | Bending stiffness Kb (N/m) | Velocity (mm/s) |
| 1 | 0.5 | 6 | 0.1 | 201 | 259 | 3.3323 | 2 | 0.5 | 6 | 0.2 | 201 | 254 | 4.1148 | 3 | 0.5 | 6 | 0.3 | 201 | 246 | 4.7221 | 4 | 1 | 10 | 0.1 | 1925 | 2484 | 4.7324 | 5 | 1 | 10 | 0.2 | 1925 | 2436 | 5.2970 | 6 | 1 | 10 | 0.3 | 1925 | 2357 | 5.6852 | 7 | 1.5 | 14 | 0.1 | 6961 | 8982 | 2.6500 | 8 | 1.5 | 14 | 0.2 | 6961 | 8808 | 3.1622 | 9 | 1.5 | 14 | 0.3 | 6961 | 8525 | 3.6225 |
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