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  4. Vol 10, Issue 1, 2025

Research on the Engineering Mechanics Equations of a Pipeline Robot Supported by Wheel Systems

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DOI: 10.23977/jemm.2025.100104 | Downloads: 27 | Views: 618

Author(s)

Xiaomin Shan 1

Affiliation(s)

1 College of Engineering, Inner Mongolia Minzu University, Tongliao, Inner Mongolia Autonomous Region, China

Corresponding Author

Xiaomin Shan

ABSTRACT

Existing oil pipeline robots generally face stability and adaptability problems in complex terrain and different environmental conditions. Especially under high load and complex pipeline paths, the robot's motion control and mechanical response often cannot meet the requirements. To this end, this paper first constructs a mechanical model of a supported wheeled robot in a pipeline environment. By analyzing the response of the robot under different terrain and disturbance conditions, a set of control methods based on dynamic optimization are proposed. This paper accurately calculates the contact force and motion trajectory of the robot on the pipeline by establishing a multi-factor coupling model including normal force, tangential force and friction force, and simulates and verifies its performance under different operating conditions. The study also deeply analyzes the dynamic response of the robot under speed and slope conditions to ensure its efficient movement in difficult environments. The experimental results show that the robot's motion control accuracy has been significantly improved through the improved mechanical model, especially in pipeline environments with high-speed movement and complex slopes. Under flat conditions, the robot has a recovery time of 2.1 seconds after being disturbed by a speed of 0.5 m/s, a maximum displacement deviation of 0.15 meters, and a maximum posture deviation of 3.5°.

KEYWORDS

Support Wheel Robot; Oil Pipeline; Mechanical Model; Motion Control; Stability

CITE THIS PAPER

Xiaomin Shan, Research on the Engineering Mechanics Equations of a Pipeline Robot Supported by Wheel Systems. Journal of Engineering Mechanics and Machinery (2025) Vol. 10: 35-44. DOI: http://dx.doi.org/10.23977/jemm.2025.100104.

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