Design of A Negative Pressure Adsorption Pipeline Robot for Omni-directional Mobility

In order to enable robot the omni-directional mobility in non-ferromagnetic pipelines, a negative pressure adsorption pipeline robot is designed. Firstly, a mechanical structure was designed for the omni-directional mobile pipeline robot based on negative pressure. A variable adsorption force control method for the robot was proposed by establishing the internal curved surface motion model of the pipeline robot through mechanical analysis. Simulation results show that the robot could steadily adsorb in any arbitrary position of the pipeline, possess the capability of omni-directional mobility and have a significantly improved endurance time.