新型可变形串联管道检测机器人：设计、建模及实验
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中图分类号：TP242DOI：10.3969/j.issn.1004-132X.2025.09.026
A Novel Deformable Serial Pipeline Inspection Robots ：Design， Modeling andExperimentation
ZHANG Yixin MIAO Yinan YI Zhiheng WAN Wenjing WANG Xingjian ZENG Song WANG Shaoping* School of Automation Science and Electrical Engineering，Beihang University，Beijing，100191
Abstract： In response to the urgent demands for daily maintenance and inspection of oil and gas pipelines，a novel modular pipeline inspection robot named RoboChain-I，featuring adaptive deformation capabilities，was proposed herein.Unlike most wheel-based pipeline robots，the robot adopted a cel-nspired modular biomimetic design with more flexible joint redundant rotational degrees of freedom（DOF），allowing the robot to actively deform in response to pipelines with varying shapes and diameters. Each module was equipped with dual-wheel independent drive，and a pair of pitch and yaw actuation mechanisms were installed at the front and rear. The modules were connected by passive elastic damping support structures or controllable electromagnetic adhesion-separation rigid structures，which improved the robot's ability to navigate complex pipelines and adapt to various environments. The forces acting on the robots during their motions inside the pipeline were modeled，and kinematics simulations were conducted using Adams.The selection of design parameters for the model was validated accordingly.A comprehensive series of experiments were conducted to evaluate RoboChain-I’'s performance，including terrestrial locomotion，straight pipe traversal，elbow pipe navigation，diameter-varying pipeline adaptation，and active mother-child separation.Experimental results validate the robot's effectiveness and reliability in performing inspection tasks within complex three-dimensional pipeline networks with diameters ranging from 175～440mm ，demonstrating maximum velocities of 0.87m/s on flat surfaces and 0.4m/s within pipelines.
Key words：pipeline inspection；deformable robot；redundant degrees of freedom；motion control; modular design
0 引言
管道系统广泛应用于排水、供暖、石油和天然气的长距离输送、农业灌溉以及众多工业设备的运作中，一旦发生管道故障，不仅会导致巨额经济损失，而且会影响日常生活，甚至造成人员伤亡[]。（剩余16088字）
