Design and Performance Analysis of a Parallel Pipeline Robot

摘要

A parallel four-legged pipeline robot is designed to mitigate the issue of uneven motor loading on the single-leg linkage responsible for movement along the pipe diameter. This issue occurs because the drive motor located closer to the robot body requires higher torque when the serial robot operates along the inner wall of a circular polyethylene gas pipe in an urban environment. The forward and inverse kinematic equations for a single-leg linkage are derived to establish the relationship between joint angles and foot trajectories. Building on this analysis, the forward and inverse kinematic solutions for all four legs are also derived. An optimized diagonal trotting gait is selected as the robot’s walking pattern to ensure a balance between stability and movement efficiency, considering the robot’s structural configuration. Motion simulations for both the serial and parallel robots are performed using simulation software, with a detailed analysis of the displacement of the robot’s center of mass and the leg centers during movement. The driving torque of the leg motors in both configurations is controlled and examined. Simulation results indicate that the designed parallel four-legged pipeline robot achieves lower motion error and smoother leg movements within the pipe. Compared to the serial robot, the maximum torque required to drive the leg motors is reduced by approximately 33%, demonstrating the effectiveness and validity of the overall structural design.