【摘要】 随着管道结构的复杂化,管内机器人的转向能力受到越来越多的重视,已成为评价管内机器人运动性能的指标之一。通过阐述管内机器人的转向能力,介绍了在管内中的转向方式—铰链式、差动驱动式和蠕动式,详细分析了当前国内外几种典型的具有转向能力的管内机器人的结构特点及转向特性,进一步总结出影响转向能力的关键技术,并对其发展趋势作了展望。更多还原

【Abstract】 With the complexity of the pipeline structure,the steering capability of in-pipe robot has aroused more and more attention and has become one of the indicators to evaluate the movement performance of robot inside the pipelines.Through elaborating the steering capability of in-pipe robot,the steering modes inside the pipelines,articulated type,differential-driven and creep-driven,were introduced.Then,the structural and steering characteristics of typical in-pipe robots at home and abroad with steering abilities were analyzed in detail,and the key technologies which affect the steering capability of in-pipe robot inside the pipelines were summed up further more.Finally,their developing tendency were put forward.更多还原