螺旋轮驱动的细小管内移动机器人研究

On Micro Robot in Small Pipes Based on Screw Motion Wheels

螺旋轮驱动的管内机器人是一种适合小口径管内移动作业的微小机器人形式。它由动力内置式螺旋运动机构和 Ｃ Ｃ Ｄ 摄像头／ 监视装置组成。本文分析了这种移动机构的运动和力学性能。经过对原理样机的试验测试，得到移动性能的实验数据，为开发适应φ２０ｍ ｍ 管径的螺旋运动机构提供设计依据。

In pipe micro robot based on screw motion wheels is suitable for moving and inspection inside small diameter pipes. The robot development is composed of an screws motion in pipe moving mechanism with the driving motor inside and a CCD camera. In the paper, the motion and force analyses are made for this kind of moving mechanism. After experiments on the prototype, moving characteristics are obtained, which will provide a sound reference in the development of in pipe robot suitable for smaller diameter pipes.