Design and stability analysis of the no power and self-propelled spraying robot used in the pipe wall

In order to achieve the pipe wall fast, accurate and efficient spray coatings, we design of a non-powered support of the self-propelled pipe wall painting robot is proposed to solve the difficulties in running different operating conditions and spraying effect is not ideal problem. Through the design and stability analysis of the structure, on the basis of analysis of influence within the robot motion tube stability factors, the establishment of limited contact with the inner tube robot mechanics model, stability and movement of the robot in the inner tube into the solution matrix and differential-algebraic equations of issue, verify that the pipe wall spray-free travel from the pipe wall spray paint robot feasibility and research value. To provide a convenient and efficient way for the new pipe wall spray paint.