【摘要】 首先论述了微型管道机器人的发展背景及与传统管内机器人的区别，然后在对国外几种驱动类型管内微型机器人的工作原理分析阐述的基础上，指出了目前管内微型机器人研究中所面临的主要问题，并对实现微管内机器人实用化的关键技术及研究发展方向进行了探讨。更多还原

【Abstract】 In this paper,application background of micro in－ pipe and its difference from conventional in－ pipe robot are introduced firstly,on the basis of analysis and discussion on working theory about several kinds of small conventional in－ pipe robot and micro in－ pipe robot with different micro actuators,the main problems on micro in－ pipe robot research are mentioned,in the meanwhile,the key technology and further research development trend are discussed.更多还原