Design and motion analysis of multi-motion mode pipeline robot

摘要

Abstract Aiming to improve the adaptability level of single motion form pipeline robots, a wheeled pipeline robot with multiple motion modes is designed. The overall scheme of the pipeline robot is given. The self-adaptive diameter-changing mechanism, wheel displacement mechanism, and turning mechanism are designed. The motion and mechanical models of pipeline robots during travelling are established; on this basis, the robot‘s main body structure is optimised.