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管内步伐式行走机器人由太原理工大学研制成功，并己于１９９４年１２月通过了山西省科委的技术鉴定．该机器人可在管内双向行走，自动随管道弯度转向．本文详细阐述了机器人的机构，在力学分析的基础上介绍了脚靴的自锁机构以及牵引力和脚靴撑紧力间的关系，论述了产生大牵引力而不打滑这一管内步伐式机器人的特点．
The walking robot inside the tube was successfully developed by Taiyuan University of Technology and had passed the technical appraisal of Shanxi Science and Technology Commission in December 1994. The robot can walk in both directions in the tube and automatically steer with the pipe bend. This paper elaborates on the mechanism of the robot. Based on the mechanics analysis, the paper introduces the self-locking mechanism of the foot-shoe and the relationship between the traction force and the tension of the foot-shoe. The characteristics of the in-pipe walking robot that produce large traction without slipping are discussed .