Force Analysis of a Flexible Squirm Pipe Robot

Abstract

To improve the adaptability in the complex pipe environment,the structure of a flexible squirm pipe robot is optimally designed and the force the pipe acts on the robot is analyzed.The robot is made up of flexible axl,front/back body,guiding head and supporting wheels.Analyzing the motion character of the pipe robot in straight and L-type pipe,a mechanical model of the pipe robot is established.The moving condition of the pipe robot is also inferred.A new experiment system is set up to verify the validity of the design.