直进轮式全驱动管内行走机构的研究

STUDY ON A NEW TYPE OF MOBILE ROBOT MECHANISM MOVING IN PIPE

摘要: 本文提出了一种新的管内行走机构．它利用一个电机同时驱动均布在机架上并与管内壁用弹簧力相封闭的6个行进轮，从而实现了可以轴向直进全驱动的管内行走．该机构结构紧凑，驱动效率高，制造容易，安装方便，工作可靠．

Abstract: In this paper,a new type of mobile robot mechanism moving in pipe is presented.It uses onemotor to drive six wheels which distribute symmetrically on the robot body and a wheels are pushed on thewall of pipe by spring force,so that the six driving wheels move along the axis of pipe.This kind of mobilerobot mechanism has high efficiency,simple structure and easy to manufacture and to mount.