Design, Analysis, and Optimization Testing of a Novel Modular Walking Device for Pipeline Robots

This article investigates the limitations associated with traditional wheel-type pipeline walking devices, which are characterized by a single movement mode and an inability to navigate complex or irregular pipeline structures. A modular walking device (MWD) designed for pipeline robots was developed utilizing structural and mechanical analysis techniques. The reliability of the mechanical analysis was validated through single-factor dynamic testing. To analyze and optimize the factors influencing the maneuverability and obstacle-crossing capabilities of the MWD, a three-factor, three-level orthogonal testing method was utilized. The factors examined included the rotational speed of the walking wheel (RS), the pre-tightening force of the wheel brackets (PF), and the height of the annular obstacle (OH). The evaluation metrics used were the slip rate and passability. The results indicated that a parameter combination of RS at 70 rpm, PF at 30 N, and OH at 10 mm produced a slip rate of 11.6% ± 1.5%. During the obstacle traversal process, the remainder of the device maintained a safe distance from the obstacles, with only the walking wheel making contact. The verification testing also confirmed that the MWD is capable of executing three distinct modes of motion: rectilinear, rotational, and helical. The MWD designed and developed in this study can switch between multiple motion modes and successfully overcome obstacles within 15 mm, providing a new equipment for universities to enhance mechanized pipeline detection technology.