Design, Analysis, and Control of a Multilink Magnetic Wheeled Pipeline Robot

This paper presents a multi-link magnetic wheeled pipeline robot (PR-I), which is a flexible and modular robotic mechanism. It is designed for inspection, cleaning or disinfection of central air conditioning ventilation duct. PR-I can adapt to complex pipeline terrain, and move in the ventilation ducts freely. A novel magnetic wheel is proposed for wall climbing, which is circumferentially embedded with rectangular permanent magnets. Firstly, the wall climbing model is established to obtain the adsorption conditions, then the effects of the magnetizing direction of the magnets, magnetic wall thickness and gap on the magnetic force are analyzed by finite element method. Finally, the optimal magnetic wheel structure is obtained through dynamic simulation analysis. The motion control of the robot is carried out in an embedded system. Two fuzzy controllers based on ranging sensor and IMU are proposed for straight motion and turning motion, and gait sequences are designed for obstacle surmounting. The performance of the robot was evaluated in a real ventilation duct. The experimental results show that PR-I has good trafficability and control performance in various terrains.