Dynamics Stability of the Micro Robot Moving in Bent Pipe
管道内微机器人弯管运动的动力学稳定性

A new type of micro pipe robot is introduced. A constrained micro pipe robot dynamic model with frictional contact is proposed, a singular perturbation method is used to reveal additional necessary conditions to ensure contact force stability in the reduced rigid body model. And the stability of the micro pipe robot moving in bent pipe is analyzed.