【摘要】 设计与实现了一种连杆蠕行管道机器人。该机器人不仅能够在各种材质的管道中实现前进、停留、后退等动作,还具有在垂直管道中向上向下行走等功能。该文主要介绍了蠕行管道机器人硬件设计和控制方法。更多还原

【Abstract】 This thesis introduces the design and realization of the connecting rod crawling pipe robot.It can realize not only feel one’s way or stop or back away but the function of the walk upward or downward in the perpendicular pipe as well.Its mechanism principle and control system is discussed in detail.更多还原