Design and Traversability Analysis of A Tracked Pipeline Cleaning Robot

To ensure the drainage efficiency of urban sewer systems, a tracked pipeline cleaning robot is designed. The required driving force for the robot is calculated, and its traversability in pipelines is studied, focusing mainly on its performance in curved pipes and those with obstacles. The analysis includes the geometric constraints and motion characteristics of the robot in bends. The structural design is focused on the required functions of the robot, analyzing the characteristics of its walking diameter-changing mechanism and cleaning device. Finally, ADAMS virtual software and a physical prototype are used to simulate and test the robot’s traversability in pipelines, followed by comparative data analysis to draw conclusions. The results indicate that the robot can successfully turn by utilizing the speed difference between the inner and outer tracks and overcome obstacles with a maximum height of 9mm. During this process, the springs deform according to specific conditions, ensuring the robot can smoothly navigate obstacles and turns.