摘要：This paper presents a novel double-direction inchworm in-pipe robot, called the Cam-Linkage Robot (CLR), used to carry sensors and instruments to perform inspection and cleaning jobs inside pipelines. The prototype has been developed to improve the driving ability and reduce the difficulty of control. CLR is suitable for pipe diameters from 360 mm to 400 mm due to its functions of manual adjustment and automatic adaptation. The structure of CLR was presented and some critical design issues on the principle of cam-linkage mechanism were discussed. Based on cam-linkage mechanism, CLR could press the wall actively and creep in two directions via only one motor, so this research has broken the limitation that traditional active wall-press robot needs more than one actuator. The cam pressure angle could be reduced to 0, and the propulsion ability was almost not weakened by the support motion at the stable support stage. Finally, experiments were conducted to validate the locomotion principle and the effectiveness of CLR.
