Research on Walking Principle of a Worm Pipe Robot

Abstract

The new type worm pipe robot was put forward based on Stewart parallel mechanism by the method which move or rest platform is alternated. The kinematical model was set up by the method of coordinate transform for the robot in this paper, and the walking principle was analyzed when the robot moved in straight pipe and elbow. Further more the virtual prototype was made and kinematical simulation analysis had been accomplished. By the walking simulation when the robot moved in straight pipe and elbow it is validated that the walking principle established for the robot is correct. The robot can has bigger tensile draw.