Design and Research of a Self-Propelled Pipeline Robot Based on Force Analysis and Dynamic Simulation

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.