Design and Simulation of a Soft Pipe-Climbing Robot for Scalable and Energy-Efficient Pipe Inspection Operations

This paper introduces a novel pipe-climbing robot designed based on the principle of continuous eversion and inversion, utilizing soft pressurized air-filled tubes as its primary structure. The proposed system is engineered to climb pipes of varying inclinations, including curved sections, offering a versatile and adaptable solution for pipe inspection and maintenance. Unlike traditional pipe-climbing robots with complex and heavy mechanical architectures, this design emphasizes simplicity and lightweight construction, enhancing portability and operational efficiency. A preliminary simulation study is conducted to evaluate the robot's performance, focusing on the torque requirements of the motors and the energy expenditure during ascension at various pipe angles. The results demonstrate the feasibility of the design, highlighting its potential for scalable, energy-efficient, and effective deployment across diverse pipe morphologies. This work lays the foundation for further development and experimental validation of soft robotics for pipe-climbing applications.