Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable

Table 1

Structure and motion parameters of the robot.

Structure parameters	Value (mm)	Motion parameters	Range
	325	,	20° to190°
	300	,	0° to170°
	300	,	−120° to120°
	270	,	−180° to 180°
	40	,	50 to 650 mm
		,	0 to 550 mm