Development of Controllable Two-Way Self-locking Mechanism for Micro In-Pipe Robot

Abstract

A controllable two-way self-locking mechanism was developed in this paper to improve the tractive ability of inchworm micro In-pipe robot and reverse its moving direction. Firstly, the robot structure was proposed and its relevant locomotive functions were introduced. Then the mechanism was analyzed and its mathematical model was built to deduce the conditions of direction reversing and diameter variation adapting. Finally a robot prototype was developed based on the results derived above, and its related experiments were carried to test these conditions.