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

Table 3

Experiment results.

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