Design and Motion Analysis of a Flexible Squirm Pipe Robot

In order to meet the special requirements for the robot moving in the pipeline, an innovation robot mechanism which has flexible axle and self-steering device is proposed. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can be realized. The robot can adapt to the pipeline with different diameters by changing supporting mechanism automatically, and for its special shape the robot can also be driven by the pressure caused by the flowing liquid in pipe. All the functions of this robot are realized only by one motor, so the robot has simple structure and high utilization of motor. By the analyzing of the flexible helical springiest which is the key part of the robot and moving ability of the robot in different environment of pipe, the mechanism design of the robot is proved to be effective.