支撑机构采用了伞状支架，能够适用于矩形或圆形管道；清洁机构采用了钢丝绳驱动的柔性机械臂。

The support mechanism which can be used in rectangular or circular pipeline, adopts umbellar bracket.

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钢丝绳绕经驱动轮时部分成圆周缠绕，一部分是直线缠绕。

When the steel wire rope is winded by the drive wheel some winded along the circumference, others winded along the straight line.

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机器人； 挠性驱动单元； 动力学； 钢丝绳建模；

Robot Flexible driven unit Dynamics Cable modeling;

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