Small-diameter pipeline inspection robot with controllable elastic clamping suspension

This paper presents the design and analysis of an innovative small-diameter pipeline inspection robot featuring an elastic gripping suspension system to address the critical need for reliable pipeline maintenance in urban infrastructure and industrial applications including water supply, drainage, gas distribution, and petrochemical systems where aging, environmental corrosion, and mechanical damage often lead to pipeline deterioration, cracks, and blockages that may result in leaks, environmental contamination, or catastrophic failures if undetected. The proposed robotic system integrates three active wheeled modules, three passive wheeled modules, and three frame mechanisms with each mobile unit employing dual suspension structures to achieve secure pipeline attachment, adaptive movement, and enhanced obstacle negotiation capabilities, offering exceptional flexibility and adaptability for navigating complex pipeline networks with varying diameters and surface conditions through its unique suspension design that has been rigorously analyzed through detailed mechanical design principles, comprehensive force modeling, and simulation experiments demonstrating reliable operation and robust pipeline navigation capabilities to provide a practical and efficient automated inspection solution superior to conventional methods in terms of accessibility, maneuverability, and inspection accuracy for confined pipeline environments.