Optimization of adaptive mechanism for pipeline robots

Abstract

Abstract The environment inside the pipeline is complex, and it is now more reasonable to use pipeline robots to work inside the pipeline. This article delves into the adaptive mechanisms of pipeline robots, including their kinematics and dynamics, as well as the analysis using Jacobian matrices. Through a series of analyses, adaptive motion simulation was completed using SolidWorks and Simulink. To ensure the performance of the adaptive mechanism, we conducted simulation analysis on the mechanism. During the simulation process, we simulated various working conditions, such as the challenges faced when working in different terrains and environments, as well as working in pipelines of different diameters. Through simulation analysis, we have obtained important information about the obstacle clearance performance, diameter reduction performance, and energy efficiency of the optimized adaptive mechanism. This information can help us further optimize the design of the organization, making it more efficient, energy-saving, and environmentally friendly. In addition, we also studied the adaptive mechanisms of different types of pipeline robots to determine the optimal parameter design scheme. This will provide better performance and higher reliability for different types of pipeline robots. In order to make pipeline robots more flexible, efficient, and reliable. We have designed an adaptive mechanism on the basis of mechanical analysis. We have completed adaptive motion simulation and have optimized the adaptive mechanism based on the simulation results.