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<p>To address the challenges of limited mobility and obstacle-crossing capability in small- and medium-diameter pipeline inspection robots, this paper presents a dual-mode pipeline robot that integrates wheeled and support-inchworm locomotion. The robot features an active diameter-adjustment mechanism and multi-mode motion coordination, enabling it to switch between wheel-driven and inchworm-like crawling based on the pipeline environment. Theoretical models for bending dimensional constraints and kinematic trajectories were established, and dynamic simulations along with prototype experiments were conducted to evaluate the robot’s performance in straight, inclined, and curved pipes. Results demonstrate that the robot achieves a maximum speed of 7.5&#xa0;m/min in wheeled mode and reliable obstacle negotiation in support-inchworm mode. The bending constraint analysis confirms its adaptability to pipe diameters ranging from 290&#xa0;mm to 310&#xa0;mm with a curvature radius of 775&#xa0;mm. Simulation and experimental data are in good agreement, validating the feasibility and effectiveness of the robot’s structural and motion strategy design. This study provides a highly adaptable dual-mode pipeline robot with enhanced obstacle-crossing performance, offering a practical solution for inspection and maintenance in complex pipeline environments.</p>

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Design and motion performance study of a dual-mode pipeline robot with active diameter adjustment

  • 期刊论文

  • 发表日期：

    2026年5月23日

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  • Yujia Li,
  • Weiheng Chen,
  • Weisong Yu,
  • Tao Ren,
  • Yu Xia,
  • Xiao Huang,
  • Simon X. Yang

摘要

To address the challenges of limited mobility and obstacle-crossing capability in small- and medium-diameter pipeline inspection robots, this paper presents a dual-mode pipeline robot that integrates wheeled and support-inchworm locomotion. The robot features an active diameter-adjustment mechanism and multi-mode motion coordination, enabling it to switch between wheel-driven and inchworm-like crawling based on the pipeline environment. Theoretical models for bending dimensional constraints and kinematic trajectories were established, and dynamic simulations along with prototype experiments were conducted to evaluate the robot’s performance in straight, inclined, and curved pipes. Results demonstrate that the robot achieves a maximum speed of 7.5 m/min in wheeled mode and reliable obstacle negotiation in support-inchworm mode. The bending constraint analysis confirms its adaptability to pipe diameters ranging from 290 mm to 310 mm with a curvature radius of 775 mm. Simulation and experimental data are in good agreement, validating the feasibility and effectiveness of the robot’s structural and motion strategy design. This study provides a highly adaptable dual-mode pipeline robot with enhanced obstacle-crossing performance, offering a practical solution for inspection and maintenance in complex pipeline environments.