A kind of flip robot is designed who is working between parallelled straight pipes.Based on the inner structure of the heating furnace tank and particular requirements of function

the integrated structure design idea of flip

walking

dust-cleaning function is put forward.Dynamic and static analysis on robot is performed by using the second Lagrange function and Newtonian mechanics principle

and design idea of control system based on the structure is discussed

and at the same time

turnover experiments are performed

which verifies the feasibility of the robot.