This paper is based on the research results achieved home and abroad. It is studied of travel mechanism, control system and vision detect system of micro pipe robot according to pipe of 60mm minor diameter.
基于国内外已取得的科研成果，对应用于内径60mm左右的微型管道机器人的移动机构、控制系统、视觉检测系统等进行了研究。
参考来源 - 管道检测微型机器人技术研究Since different ground-moving mechanisms have unbalanced performances on their speedability, obstacle capability and stability, it has been always a hotspot to develop a all-round ground-moving mechanism for developed countries.
各种地面移动机构在快速性、越障性、平稳性等方面都各有长短,研究开发一种性能全面的移动机构一直是各发达国家的研究热点。
参考来源 - 基于变形车轮的移动机构研究·2,447,543篇论文数据，部分数据来源于NoteExpress
移动机构具有两大功能，即吸附功能和移动功能。
Robot traveling mechanism has two functions:absorbing and traveling.
小口径管道内蠕动式移动机构是一种新颖的管道内无损探测牵引机构。
The squirming mechanism in pipeline is a new type of towing mechanism for non-destructive inspection in pipeline.
该机器人采用足脚式移动机构，并采用一种由真空泵驱动的壁厚变化的软吸盘机构。
The robot in plan possesses feet-type movement and a kind of variable thickness soft acetabulas which are driven by vacuum-pump.
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