Design and Kinematic Characteristic Analysis of a Spiral Robot for Oil and Gas Pipeline Inspections

摘要

This study presents a spiral pipeline robot designed for detecting and preventing oil and gas pipeline leakages. A comprehensive analysis of factors such as spiral angle, normal force, pipe material, and operating attitude is conducted based on the robot’s mechanical model in a straight pipe. This in-depth investigation determines the optimal spiral angle, normal force, pipeline material, and operating attitude to enhance the robot’s motion stability and traction performance. Using virtual prototype technology, the robot’s traction performance is simulated under various working conditions, normal forces, and attitude angles within the pipeline. An experimental platform is established to verify the impact of deflection angle, normal force, and pipeline material on traction performance. The experimental results and simulation analysis mutually validate each other, providing a reliable reference for robot design and optimization. The spiral pipeline robot and its motion strategy proposed in this study possess both theoretical value and practical application prospects in the field of oil and gas pipeline inspection and maintenance.