Study for mechanical transmission proposal of peristaltic pipe robot

There are analysis and design for moving mechanism from the view of mechanics and kinematic on the thesis. It makes use of screw transmission mechanism and direct current motor to realize the peristaltic moving of the robot. It mainly studies on the double movement drive mechanism of mechanism structure, support frame of the robot which adapts to the variation of the pipe diameters, immediate stop and locked-up mechanism. It also raising one of the best driving manners which could work in both of the vertical and horizontal pipeline and realize alternating motion in limited distance.