XV Zi-li，HAN Li-nan，ZHANG Wei-sen，CHEN Long

（Department of Precision Mechanical Engineering，Shanghai University，Shanghai 200072，China）

Abstract：Aiming at the safety and efficiency issues of grinding operations in boiler header，a new type of wheel- drive robot was developed. The construction and working principle of the robot was introduced. According to wheel pipe robot specific requirements，the influence of the wheel diameter and friction to the performance of overcoming obstacles in the complex environment of the inner wall header was discussed. A kinematic model of the robot was established to analyze the pose and motion trajectory of each wheel. Meanwhile，experimental study on the moving performance was carried out on the prototype. The results indicate that the wheeled polishing robot has fast response and good moving ability，experimental data meet the design requirements.

Key words：polishing robot；circular header or pipe；trafficability；pose