In the operation of clear-out

maintenance and processing in exterior of the oil and chemical industrial flow pipes

the manipulators should be the implement to swing at even speed and move in the straight line when actuating source is rotating in a positive direction. To achieve object

the difficult point lies in the design of uniform and reciprocating oscillation device. It is studied that uniform oscillation of the manipulator is achieved by an incomplete-roller chain devie

When rotation direction of driving souree is not changed. The kinetic principle of the device is stated. By an example

design method of the device is analyzed. The device has been applied in an automatic cleaning and spraying robot

the results show that there is feature of compact structure and high reliability for unifrom and recipocating oscillation device of incomplete-roller chain.