This paper discusses a crawling in-pipe robot moving in transcend en tal mode, analyzes the principle of transcendental motion and the self-lock con dition of the robot and introduced its mechanism and control system.

• 这里对一种采用超越方式行走的蠕动式管内机器人进行了研究,分析了机器人的超越行走原理和自锁条件,介绍了其机构和控制系统。