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To achieve the reliability and convenience of the anti-corrosion painting inside the pipeline, this paper designs an in-pipe robot driven by Mecanum wheels, which can adapt to pipeline diameters ranging from 400 mm to 800 mm. According to the working conditions inside the pipeline, the overall structure design of the in-pipe robot was carried out based on the motion principle of the Mecanum wheel. The driving velocities of the in-pipe robot were calculated, and the motion of the in-pipe robot was analyzed by ADAMS. The simulation results show that the motion characteristics of the in-pipe robot are consistent with the theoretical analysis, which is stable and reliable.

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Structural Design and Motion Analysis of a Wall-Pressing In-Pipe Robot Based on Mecanum Wheels

  • 会议论文

  • 发表日期：

    2025年

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  • Jinlin Li,
  • Sheng Zeng,
  • Shengzhao Huang,
  • Shuncong Zhong,
  • Qiaoying Guo

摘要

To achieve the reliability and convenience of the anti-corrosion painting inside the pipeline, this paper designs an in-pipe robot driven by Mecanum wheels, which can adapt to pipeline diameters ranging from 400 mm to 800 mm. According to the working conditions inside the pipeline, the overall structure design of the in-pipe robot was carried out based on the motion principle of the Mecanum wheel. The driving velocities of the in-pipe robot were calculated, and the motion of the in-pipe robot was analyzed by ADAMS. The simulation results show that the motion characteristics of the in-pipe robot are consistent with the theoretical analysis, which is stable and reliable.