Abstract: In this paper, a mobile robot with transformable wheel-legged mechanism is proposed to effectively cope with unstructured terrain in the work environment, especially steps. By using the combination of ratchet-crank-pilot ...

Abstract: The pipeline inspection gauges (PIGs) are often blocked in actual operation. As the PIG ran in the straight pipeline, elbow, and anomaly, the large deformation and stress state of the power section cup were analyzed by a ...