The pipeline robots usually work inside the pipelines using single degree of freedom wheeled robots(hereinafter referred to as robots)as carriers.This paper establishes a right-handed coordinate system based on the characteristics of axial motion of robots in pipelines.Through dynamic analysis and torque balance analysis of robot wheels,the steering dynamics equation of pipeline robots is solved using Newton's theorem,D'Alembert Lagrange principle,Lagrange equation,etc.,and the steering stability problem of the pipeline robots is deeply studied.
维普
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