Research and Simulation on Principle of Walking Driving Mechanism for In-Pipe Worming Robot

Aiming at the problem of large drag force of robot in narrow pipe space, a new type walking driving mechanism of in-pipe worming robot was proposed in this paper. The main force-exerting driving is an incomplete gear-rack mechanism, it has the characteristics of high transmission efficiency and good manufacturability. The walking principle and walking step-speed and drag force had been analyzed. When virtual prototype established the simulation experiments analysis were completed, the numerical results are in good agreement with the theoretical analysis, to a certain extent, the rationality and feasibility of the new type walking driving mechanism proposed of in-pipe worming robot had been verified, these provide the basis foundation for the manufacture of physical prototype.