Dynamics Simulation and Analysis of a Self-Propelled Pipeline Robot for In-Pipe Inspection of Urban Gas Pipelines

Abstract

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 passing ability in T-branch pipes. Adopting a wheeled configuration and modular design, the robot prioritizes core body motion control. Specifically, the robot's 3D model was first created in SolidWorks. Subsequently, the model was imported into ADAMS for dynamic simulation, providing 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. By adjusting its posture to overcome obstacles and select directions, the robot has demonstrated its ability to traverse a variety of complex pipeline scenarios stably. Notably, this work provides a technical feasibility reference for applying the pipeline robot to inspect medium- and low-pressure urban gas pipelines.