Design and Research of a Self-Propelled Pipeline Robot Based on Force Analysis and Dynamic Simulation
🤖 AI Summary
Conventional cable-driven pipe inspection robots suffer from limited travel range, inability to climb vertical sections, and poor navigation through T-junctions. To address these limitations, this paper proposes an autonomous, wheel-based modular pipe robot. The design integrates force analysis with ADAMS-based dynamic simulation to enable adaptive posture adjustment and active identification of multi-branch pathways. Structural modeling was performed in SolidWorks, and experimental validation was conducted on an acrylic test platform incorporating optimized motion control strategies to assess system robustness. Experimental results demonstrate stable obstacle negotiation and directional locomotion within medium- to low-pressure urban gas pipelines. The robot significantly enhances inspection accessibility and operational autonomy in complex topological environments. This work establishes a viable technical pathway toward cable-free, intelligent pipeline inspection systems.
Application Category
📝 Abstract
In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled pipeline robot design based on force analysis and dynamic simulation, with a specific focus on solving core challenges including vertical climbing failure and poor passability in T-branch pipes. Adopting a wheeled configuration and modular design, the robot prioritizes the core demand of body motion control. Specifically, 3D modeling of the robot was first completed using SolidWorks. Subsequently, the model was imported into ADAMS for dynamic simulation, which provided a basis for optimizing the drive module and motion control strategy.To verify the robot's dynamic performance, an experimental platform with acrylic pipes was constructed. Through adjusting its body posture to surmount obstacles and select directions, the robot has demonstrated its ability to stably traverse various complex pipeline scenarios. Notably, this work offers a technical feasibility reference for the application of pipeline robots in the inspection of medium and low-pressure urban gas pipelines.
Problem
Research questions and friction points this paper is trying to address.
Designing a self-propelled robot to overcome cable limitations in pipeline inspection
Solving vertical climbing failure and poor passability in T-branch pipes
Verifying dynamic performance for complex urban gas pipeline scenarios
Innovation
Methods, ideas, or system contributions that make the work stand out.
Self-propelled robot design using force analysis
Dynamic simulation in ADAMS for motion optimization
Modular wheeled configuration for complex pipe navigation
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