国内外微小管道机器人的研究现状  

Research status of micro in-pipe robot at home and abroad

作　　者：王耀华[1] 左仁贵[2] 

机构地区：[1]贵州大学机械工程学院,贵州贵阳550003 [2]上海大学机电工程与自动化学院,上海200072

出　　处：《机械设计》2010年第12期1-5,17,共6页Journal of Machine Design

摘　　要：微小管道机器人主要应用于工业上一些不便于人工作业的细小管道和人体肠道与血管内,它的研究涉及到诸多学科,是机器人研究领域的重要发展方向之一,具有重要的研究价值和广阔的应用前景。文中介绍了微小管道机器人的用途和分类,综合分析了国内外研发的典型微小型管道机器人,介绍其工作原理,分析了管道微型机器人研究所面临的一些关键技术并指出未来的发展趋势。Micro in-pipe robots are mostly applied in small pipelines in the industry and intestine and blood vessel where the tasks are not convenient to perform manually.As their study involves many disciplines and is one of the important development directions in the field of robot research,it has important research value and wide application foreground.This paper presents the applications and classification about micro in-pipe robot,comprehensively analyzes the typical micro in-pipe robot developed at home and abroad,and introduces their operating principle.The paper discusses some key technologies that the research of micro in-pipe robot is encountering,and points out the points out their development tendency in the future.

关 键 词：微小型 机器人 管道机器人 发展现状 能源供给 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]