Design of the small screw locomotion in-pipe robot

摘要

The purpose of this work is to develop an in-pipe small robot for locomotion and inspection in pipelines with diameters of 15mm.Basing on the screw locomotion,the new-style screw locomotion and holding mechanisms are designed.This in-pipe small robot can clam in small pipelines with high speed and tractive ability.The design of the subsections makes the robot more function expansibility.The structure and operating principle are reported in this paper.The moving characteristics in the elbow,such as locomotion constraint condition,are obtained.