Analysis of traveling-capability and obstacle-climbing capability for radially adjustable tracked pipeline robot
A kind of tracked pipeline robot with three-axis driving structures and radially adjustable characteristic is designed. The structure and the working principle of robot are introduced, the mechanical model of adjustable mechanism and its obstacle states are established, the mechanical properties of adjustable mechanism are analyzed, the relationship between traveling-capability and obstacle-climbing capability of robot and the driving force of robot is given, the influence factors of traction force and obstacle height are analyzed. The experimental results of prototype show that the pipeline robot designed in this paper has a good adaptability to the pipeline environment.