Mechanism of Medium Pressure Difference Pipe Robot Speed Fluctuation

Medium pressure type pipe robot speed fluctuation mechanism is studied. we consider that the causes of speed fluctuation are Frictional resistance mutations. Compression effect of Fluids medium and the reaction of robot speed. According to the different between the motion state of pipe robot and frictional resistance mutation trend, we make numerical simulation by using Matlab to determine the speed fluctuations law on different parameters.