The mathematical model is the academic groundwork of autonomous navigation strategy design and relevant structure design of pipeline robot in T-joint.
所提出数学模型是管道机器人三通自主行走控制策略设计和相应结构设计的理论基础。
A mathematical model to describe the traveling-capability of pipeline robot in T-joint is presented, which is composed of a set of constraint equations.
通过对约束方程的分析讨论、与管道机器人弯道通过性的对比分析，得出了规律性的结论。
T-4001 big caliber pipeline is limited in height because of its available suspending height and could not suspend with the tower freely. After suspending it, use CC8800 to install this pipe cable.
T- 4001塔顶部大口径管道因吊车的有效吊装高度所限，不能随塔吊装，在其吊装后，再用CC 8800吊装此管线。
T-4001 big caliber pipeline is limited in height because of its available suspending height and could not suspend with the tower freely. After suspending it, use CC8800 to install this pipe cable.
T- 4001塔顶部大口径管道因吊车的有效吊装高度所限，不能随塔吊装，在其吊装后，再用CC 8800吊装此管线。
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