Characteristics analysis of supporting and locking mechanism based on the non-circular gear compound transmission

As one of the most important components in the micro in-pipe robot, the supporting and locking mechanism determines the working performance of the robot. In this paper, a new supporting and locking mechanism based on the non-circular gear compound transmission (SLM-NGCT) is proposed. According to the advanced mechanisms and differential geometry theory, transmission coordinates of the movement mechanism were established and the movement equations were derived. The influence factors and change rules of the displacement, velocity and acceleration of the movement mechanism were analyzed. Based on gear meshing theory and the cam theory, the mechanical characteristics of the flexible friction block of the movement mechanism were analyzed. A simulation model of SLM-NGCT was established and the comparison results between simulation and theoretical model show the correctness of the theoretical analysis and the feasibility of non-circular gear pairs instead of the cam mechanism. The study has guiding significance in the supporting and locking mechanism of micro in-pipe robot.