Structural Design and Kinematics Analysis of Compound-driven Pipeline Robot

A compound-drive pipeline robot was proposed, which can solve the problems of inaccurate positioning, low detection quality and poor adaptability of traditional differential pressure pipeline robot. The mechanism and advantages of the compound-driven mode with motor and fluid differential pressure were studied and the structure design and working principle of the compound-driven pipeline robot based on pipeline constraint were analyzed. Through simulation analysis, the kinematic characteristics of the compound-drive pipeline robot under multiple working conditions were studied. the results show that the compound-driven structure of the robot can provide multiple working statuses that meets the requirements of high-quality inspection and maintenance in the pipeline conditions.