介绍了管内机器人代表性的驱动方式,总结出轮式驱动的典型变径机构设计特点及变径方式。通过建立驱动轮力分析模型,根据推导出的封闭力与变径参数间的非线性关系,具体研究了变径参数选择对封闭力的影响规律,并详细分析了影响变径能力的原因,为管内机器人的设计及性能评价提供了一定的理论依据。 The representative driving way of the robot in the pipe is introduced, and the design features and the way of reducing the diameter of typical wheel reducer are summarized. Based on the nonlinear relationship between the closed-end force and the variable parameters, the influence of the parameters of the variable-diameter parameters on the closing force is studied, and the reason of the effect on the reducing ability is analyzed in detail Pipeline robot design and performance evaluation provides a theoretical basis.