Research on Traveling-capability of Pipeline Robot in Elbow

A mathematic model to describe the traveling-capability of pipeline robot in elbow is presented,which is composed of a set of constraint equations. The equations are discussed and the regular conclusions are derived. The pose,segment geometric dimensions and driving wheels structure when the pipeline robot is in elbow have different influence degree on traveling-capability in elbow. The mathematic model is a groundwork of autonomous navigation strategy design and relevant structure design of pipeline robot in elbow.