Key parameter design of wall pressing tracked pipeline robot under multiple constraint conditions

Wall pressing tracked pipeline robots have been widely used due to their high movement speed, strong drag force, and strong environmental adaptability. However, due to limitations such as pipeline diameter and shape, the design of their parameters has become a difficult problem. This article analyzes the design methods for the length, width, and head waist angle of a wall pressing tracked robot constrained by C-shaped and T-shaped pipelines. Firstly, based on the spatial position relationship of the wall pressing track pipeline robot in the C-shaped pipeline, flexibility and passability criteria are proposed based on the selection torque and movable space, respectively. Secondly, combined with the motion mode of multi-stage pipeline robots, the combination of actions through T-shaped pipelines was analyzed, and constraint equations were constructed based on spatial geometric relationships. Genetic algorithms were used to select key parameters of the robot. Finally, considering the constraint effects of C-shaped and T-shaped pipelines, the optimal parameters for robots that can pass through C-shaped and T-shaped pipelines are achieved. The robot and ground testing platform are processed, and the ground testing experiment is conduct. The test results show that the robot can pass through C-shaped and T-shaped pipelines well. The test results indicate that this design method is effective.