可适径调整管道清淤机器人结构设计与运动分析

李岳,邓云蛟,敖然,侯雨雷,曾达幸

Structure design and motion analysis of pipeline dredging robot with diameter adjustment

Yue LI,Yunjiao DENG,Ran AO,Yulei HOU,Daxing ZENG

图11 行走装置进行折展运动时电机驱动力矩变化曲线

Fig.11 Variation curve of motor driving torque during folding motion of walking device