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Journal of System Simulation

Abstract

Abstract: Aiming at the problem that the inner space of underground pipeline cable is narrow and closed, which cannot be inspected by humans, and the existing pipeline robot cannot adapt to the special environment of pipeline cable, a miniaturized, compact pipeline cable inspection robot is designed. This robot is capable of operating within the underground pipeline where cables have already been laid to inspect the inner wall of the pipeline and the working condition of the cables. According to the requirements of the working conditions, the whole three-dimensional model of the robot has been established. The mapping relationship between the omnidirectional wheel velocity and the system velocity has been analyzed, as well as the variable diameter support capacity and tractive force of the robot inside the pipeline, and the mathematical model has been established. The simulation results show that the robot can directly pass through the underground pipeline laying YJLV22-3300 cable, and can adjust its posture to avoid obstacles and continue to complete the inspection task. The simulation results are basically consistent with the theoretical calculations, verifying the correctness of the dynamic model.

First Page

2100

Last Page

2112

CLC

TP242.3

Recommended Citation

Yuan Chao, Zhang Yao, Zhao Yadong, et al. Modeling and Simulation of Pipeline Cable Inspection Robot Based on Omnidirectional Wheel[J]. Journal of System Simulation, 2024, 36(9): 2100-2112.

Corresponding Author

Zhang Yao

DOI

10.16182/j.issn1004731x.joss.23-0536

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