부산대학교 도서관

In order to establish a flexible squirm pipe robot’s mechanical model and find an appropriate method to improve its moving performance, the working qualifications and dynamic analysis of brake wheels are made. Proceed with the robot's moving mechanism, the squirm principle and mechanical qualifications of the robot’s brake wheels are analyzed, and the model of the robot’s traction is derived. Based on that, the prototype is made. Finally, the validity of the design and theories is verified by experiments.