Design, Modeling, and Validation of Multi‐Segmental Adaptive Pipeline Robots in Complex Pipeline Environments

ABSTRACT This paper proposes a novel multi‐segment adaptive wheeled pipeline robot aimed at addressing challenges in complex pipeline environments, including variable diameters, bends, slopes, and obstacles. To achieve synergistic optimization of diameter adaptability and high‐efficiency cleaning/obstacle‐surmounting capabilities, a two‐segment structural design strategy integrating crossed wheel‐leg telescopic diameter adjustment, rotationally symmetric telescopic cleaning, variable‐curvature suction storage, and master‐slave wheel dynamic driving is developed. Kinematic transformation models based on constraint equations and quasi‐static analysis are established to derive the variation laws of speed and wheel torque during traversal of curved and variable‐diameter pipes. Experimental and simulation results verify that the robot can stably navigate pipes with diameters ranging from 550 to 650 mm, 90° bends, and 20° slopes. Specifically, during diameter variation, the X ‐direction speed remains stable at 520 ± 3 mm/s. For 90° bends, the outer wheel speed stabilizes at 470 mm/s after peaking during traversal. On 20° slopes, the robot maintains a stable climbing speed of 261 mm/s with minimal Z ‐direction velocity fluctuation (< 0.2 mm/s). A rotationally symmetric telescopic cleaning mechanism achieves a single‐pass sludge removal efficiency of 92%, and obstacle navigation tests confirm successful passage of 10 mm obstacles. These results validate the robot's feasibility and effectiveness in engineering applications, demonstrating superior adaptability to complex pipeline scenarios compared to conventional systems.