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Design and analysis of cleaning mechanism for an intermittent screw-driven pipeline robot

Lookup NU author(s): Dr Cai Cai, Dr Dehong Huo



This is the authors' accepted manuscript of an article that has been published in its final definitive form by Springer, 2017.

For re-use rights please refer to the publisher's terms and conditions.


For achieving the compact size and large traction force of cleaning robots, this paper presents an intermittent-cleaning robot based onthe screw-driven mechanism. The robot has two working modes: Linear reciprocating cleaning (LRC) mode and Spiral reciprocatingcleaning (SRC) mode. The working principle, kinematic analysis, traction and driving force calculations for both working modes, wereobtained and compared. Furthermore, in order to ensure the working stability, the failure mode analysis was performed. Simulation andexperiments were conducted to verify the proposed robotic mechanism. The results show that the proposed intermittent-cleaning robotscan effectively complete the cleaning work of the pipeline.

Publication metadata

Author(s): Cai Z, Lin C, Huo D, Zhu C

Publication type: Article

Publication status: Published

Journal: Journal of Mechanical Science and Technology

Year: 2017

Volume: 31

Issue: 2

Pages: 911-921

Print publication date: 01/02/2017

Online publication date: 19/02/2017

Acceptance date: 21/11/2016

Date deposited: 07/02/2017

ISSN (print): 1738-494X

ISSN (electronic): 1976-3824

Publisher: Springer


DOI: 10.1007/s12206-017-0144-y


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