Structural design and mechanical analysis of adaptive municipal pipeline robot
MA Long
HU Yong
XIAO Dongliang
XU Song
Abstract：[Objective]In response to the deterioration of aging urban underground pipeline infrastructure necessitating inter-nal inspection and condition assessment,a novel adaptive triple-tracked municipal pipeline robot was developed for conduits ranging from 400 to 800 mm in diameter.[Methods]Firstly,a robot model was established using SolidWorks 3D software,and the structural design scheme was introduced.Subsequently,a differential velocity adjustment algorithm was formulated to navi-gate bend sections,complemented by mechanical analysis of irregular pipeline traversal and the proposition of dual hypotheses regarding roll angle variations during locomotion.Verification was conducted through simulation tests on the Adams software platform.[Results]Results demonstrate the robot's superior cornering capabilities and obstacle negotiation performance while confirming the hypothesis that center of gravity displacement is the primary factor inducing roll phenomena.
Keywords：Self-adaptationMunicipal pipeline robotInitial differential adjustmentAdams software
Publication Date：2025-10-31
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 150-158 )