The kinematics model and driving force model for the micro in-pipe robot in line pipe and bending pipe are established, which can provided control basis for external power.
建立了微型管道机器人在直线管道、弯曲管道的运动学分析和驱动力分析模型，为驱动力外置提供了控制依据。
When the fluid is liquid and its speed is more than 0.3l, the micro piping robot can move in pipe and obtains some electric power when it stops.
当流体为液体、流速的值大于0.3L时，微管道机器人能在管内运动，并且其静止时能从管内流体获得一定的电能。
Theoretical analysis and experiments indicate that the micro-robot can swim forward and back off smoothly and rapidly in the tenuous glass pipe full of liquid.
理论研究与实验结果表明，该机器人能以较快速度在平置的充满液体的微细玻璃管道中游动前进和悬浮倒退。
A micro piping robot is able to help people finish tasks such as inspection inside a mini pipe. Research on the mobile mechanism of the robot is very important in the robot researching area.
微小管道机器人能够帮助人们完成诸如小口径管道内检测等工作，其移动机构是机器人研究领域重要的研究内容之一。
Because of micro robots' own characteristics, on line non-contact location to wireless in-pipe micro swimming robot remains an unsolved problem.
由于管内无缆微型泳动机器人本身的特点，其位置和速度的非接触式在线定位检测一直是个难题。
The in-pipe micro robot is an important research direction in the field of micro-robot. The efficiency and accuracy of pipe inspection may be increased dramatically by using in-pipe micro robots.
微型管内机器人是微型机器人领域的一个重要的研究方向，使用微型管内机器人可以提高管道检测的效率和精确度。
This paper introduces the wheel mechanism design of in-pipe micro-robot, proposes the dynamical model of restricted in-pipe micro-robot, and analyzes its dynamical stability.
介绍了直进轮式微型管道机器人行走机构的设计。提出了管道内受限微机器人的动力学模型，并分析了微型管道机器人的动力学稳定性。
This paper introduces the wheel mechanism design of in-pipe micro-robot, proposes the dynamical model of restricted in-pipe micro-robot, and analyzes its dynamical stability.
介绍了直进轮式微型管道机器人行走机构的设计。提出了管道内受限微机器人的动力学模型，并分析了微型管道机器人的动力学稳定性。
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