自驱动管道机器人突破电缆限制，可稳定爬升与通过复杂管道。
Design and Research of a Self-Propelled Pipeline Robot Based on Force Analysis and Dynamic Simulation
- 基于受力分析与动态仿真设计自驱式轮式机器人，模块化结构便于控制。
- 在亚克力实验平台验证中成功通过竖直爬升和T型分支等复杂场景。
- 适用于城市中低压燃气管道巡检，提供实用技术参考。
管道检测中，传统缆控机器人受电缆长度与重量限制，严重制约其行进范围与可达性。为此，本文提出一种基于受力分析与动态仿真的自驱动管道机器人设计，重点解决垂直爬升失败与T型分支通过性差等核心问题。采用轮式结构与模块化设计，优先保障本体运动控制能力。首先利用SolidWorks完成机器人三维建模，随后导入ADAMS进行动态仿真，为驱动模块与运动控制策略优化提供依据。为验证动态性能，搭建了由亚克力管构成的实验平台。通过调整机体姿态以跨越障碍并选择行进方向，机器人展现出在多种复杂管道环境中的稳定通行能力。该研究为管道机器人在中低压城市燃气管道检测中的应用提供了技术可行性参考。
原文摘要 · Abstract (English)
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.
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