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.

Key words: pipe robot, peristaltic motion, force analysis, moving condition