First introduce the working principle of the inchworm in-pipe robot based on unilateral movement mechanism, and then an equivalent system model is founded after simplifying the whole robot system.
介绍了基于单向运动机构的伸缩式管道机器人工作原理，对管道机器人整机系统进行合理简化，得到等效系统模型。
First introduce the working principle of the inchworm in-pipe robot based on unilateral movement mechanism, and then an equivalent system model is founded after simplifying the whole robot system.
介绍了基于单向运动机构的伸缩式管道机器人工作原理，对管道机器人整机系统进行合理简化，得到等效系统模型。
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