Structural Design and Motion Characteristics Analysis of the Inner Wall Grinding Robot for PCCP Pipes.

It can be seen from the processed simulation result diagram ( Figure 24 ) that when the driving wheel surmounts obstacles of 8 mm, 9 mm, 10 mm, and 11 mm heights, the time consumed for obstacle negotiation shows an increasing trend with the increase of obstacle height, indicating that the higher the obstacle is, the greater the difficulty of obstacle negotiation for the driving wheel.

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