Abstract
Pipelines are important tools for transporting fluids. The regular use of pipeline robots to inspect pipelines is an important safety measure. Passive and active screw pipeline robots have been developed and have various characteristics. In this work, the structure and driving method of screw pipeline robots were introduced. An obstacle crossing model of active and passive screw pipeline robots was established and compared using the developed screw pipeline robots. A traction model of the active and passive screw pipeline robots that considers lateral and longitudinal slip characteristics was obtained. Then, the proposed pipeline robot traction model with lateral and longitudinal slips was verified through experiments. A traction experiment on the active screw pipeline robot with improved contact confirmed that an increase in the adhesion coefficient and reduction in driving wheel slip can increase traction force.
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