A circular pipe robot with active diameter changing mechanism is developed.A robot mechanism with three independent control driving modules is designed,its pose and mechanics are analyzed,and its mechanical characteristics under typical pose conditions are described.An experimental prototype of the robot is made,ADAMS software is applied to simulate the motion of the robot and experiments are conducted to verify the adaptability of the robot to the posture and friction conditions inside the pipeline.The simulation calculation and experiment research results show that the robot mechanism design is reasonable and the robot has good pipeline adaptability.
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