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螺旋轮驱动的管内机器人是一种适合小口径管内移动作业的微小机器人形式。它由动力内置式螺旋运动机构和 Ｃ Ｃ Ｄ 摄像头／ 监视装置组成。本文分析了这种移动机构的运动和力学性能。经过对原理样机的试验测试，得到移动性能的实验数据，为开发适应φ２０ｍ ｍ 管径的螺旋运动机构提供设计依据。
The spiral-driven tube-in-tube robot is a tiny robot that fits within small-bore tube movements. It consists of a powered built-in helical movement mechanism and a CCD camera / monitoring device. This article analyzes the movement and mechanical properties of this moving mechanism. After the prototype test of the prototype, get the experimental data of the mobile performance, to provide a design basis for the development of helical motion mechanism adapted to φ20m m diameter.