Design and analysis of a variable diameter multifunctional modular pipeline robot based on pressure wall type

Abstract This study aims to address the problems of low efficiency and safety hazards of traditional manual methods in the maintenance of large and small diameter pipelines, as well as the shortcomings of existing robots, such as limited throughput capacity, single function mode, and dependence on manual labour. In this paper, a new multi-functional modular pipeline robot is designed for small pipelines with diameters ranging from 220 mm to 300 mm. The robot integrates cleaning, repair and detection functions and can warn of pipeline damage. The study includes overall system design, mechanical structure optimisation, simulation and prototype verification. Kinematic simulation and finite element analysis were performed using ADAMS software to optimise the structural design and ensure stability. The prototype experiment verifies the feasibility of the robot to walk, clean, and detect inside the pipeline. The results show that the design meets the requirements.