分析了新型管道微机器人在运动时的受力情况，并推导得到驱动轮弹性变形驱动力和牵引力的计算公式。
Based on the theoretical analysis, including the driving force analysis, calculation equations of elastic deformation driving force and pull force are given.
分析了新型管道微机器人在运动时的受力情况，并推导得到驱动轮弹性变形驱动力和牵引力的计算公式。
Based on the theoretical analysis, including the driving force analysis, calculation equations of elastic deformation driving force and pull force are given.
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