Passability and Internode Mechanics Analysis of a Multisection Micro Pipeline Robot

In submarine oil and gas pipelines, the movement of a differential pressure multisection pipeline robot mainly relies on front rear driving difference fluid friction between cup pipe wall. The passability is key point to guarantee success in scanning detecting inner wall by robot. When moves, force internode connection points changes degree freedom existence causes speed fluctuations during process which, turn, affects detection accuracy pipeline. Consequently, systematic analysis great importance. this paper, rigid–flexible, coupled, multibody, dynamic motion system established, where micro built. set as flexible body. law analyzed through simulation, robot’s stress different cabin sections are explored jointly practice. Taking transportation an into full consideration, changing bulge turning radius A corresponding experimental bench built explore effects numbers cups lengths characteristics Simulations experiments results highly similar within error range. To end, presented work provides significant information for model selection robots fields pipelines.