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本文提出了一种新型管内行走机器模型,探讨了模型的设计方法,并对该模型进行了实验研究,实验表明,该机器人能在水平或垂直上升管内平稳行走.
In this paper, a new model of in-pipe walking machine is proposed. The design method of the model is discussed. The experiment is carried out on the model. Experiments show that the robot can walk smoothly in horizontal or vertical riser.