中文摘要：

基于提出的一种尾部带四个螺旋体的管道机器人,建立机器人运行时管道内流体的动力学方程,运用计算流体力学方法,数值分析得到当机器人尾部四个螺旋体螺旋方向交替变化,并且不同旋向的螺旋体转向也不同时,四个螺旋体将形成一致的轴向力和平衡的径向力,使得机器人平衡轴向前进;当机器人尾部四个螺旋体螺旋方向和旋转方向都相同时,四个螺旋体将形成一致的轴向力和一定的周向转矩,使得机器人旋转轴向前进。上述研究表明,该类多螺旋机器人适用于人体内腔等管道完成检查和疏通等功能。

英文摘要：

Based on an in-pipe robot with four spiral bodies at its tail,the dynamics equations of the fluid in the pipe are established when the robot runs. By using the computational fluid dynamics（ CFD） method,the numerical results show that when the spiral directions of four spiral bodies alternate,and the rotational directions of spiral bodies with different spiral directions are different,the formed axial thrust forces are the same,and the formed radial forces are balanced,so that the robot moves axially in balance. When the spiral directions and rotational directions of four spiral bodies are the same,the uniform axial thrust forces and a certain circumferential torque are formed,then the robot moves axially in a rotating state. The above research shows that such multi-spiral in-pipe robots are suitable to achieve inspection,dredging and other functions.