Optimization Design and Trafficability Analysis of a Flexible Squirm Pipe Robot

Abstract

In order to improve the adaptability and moving stabilization of the flexible squirm robot in pipe, its key structures, including brake wheels, flexible spring axle and guide head, are optimized. For the new designed robot, its moving ability and trafficability in straight pipe and L-shape pipe are analyzed. Proceed with the robot's moving qualification, mechanical model of the robot in pipe is established and its squirming qualifications are proposed. Finally, a flexible squirm robot is developed to verify the validity of the proposed method.