Research influence factor on pipeline robot driving force in elbow of pipe

The elbow of pipe is one kind of barrier which the pipeline robots frequently encounter, compared with walking in straight pipe the influence factor on robot driving force are more complex at this position. This paper is focus on research the influence factor, namely the additional deformation of elastic wheel legs, to robot driving force at elbow of pipe. Firstly, the composition of robot driving force was analyzed, and the influence model of additional deformation of elastic wheel legs was established about all-driven wheel pipeline robot. Finally, the virtual test of this influence analysis has been carried out. The obtained conclusions can be served as the numeric foundation of driving force design criterion in order to make pipeline robot can autonomously walk in pipe.