Design of Pipeline Robot Based on Magnetic Adsorption Wheels
摘要
The development of a pipeline inspection robot that can autonomously navigate obstacles and climb vertical walls within pipelines was necessitated by the limitations imposed by varying pipeline terrains and restricted operational range. To address these challenges, a modularized approach was adopted. The design of the robot encompassed its overall structure, such as wheels, drive mechanisms, and inter-joint connection scheme. Concurrently, the control system and navigation system were meticulously devised. Subsequently, a pipeline test platform was erected to facilitate the production of the physical prototype of the pipeline robot, incorporating the aforementioned design elements.