In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled pipeline robot design based on force analysis and dynamic simulation, with a specific focus on solving core challenges including vertical climbing failure and poor passability in T-branch pipes. Adopting a wheeled configuration and modular design, the robot prioritizes the core demand of body motion control. Specifically, 3D modeling of the robot was first completed using SolidWorks. Subsequently, the model was imported into ADAMS for dynamic simulation, which provided a basis for optimizing the drive module and motion control strategy.To verify the robot's dynamic performance, an experimental platform with acrylic pipes was constructed. Through adjusting its body posture to surmount obstacles and select directions, the robot has demonstrated its ability to stably traverse various complex pipeline scenarios. Notably, this work offers a technical feasibility reference for the application of pipeline robots in the inspection of medium and low-pressure urban gas pipelines.

翻译：在管道检测中，传统的缆控检测机器人受限于缆线长度与重量，其行进范围与可达性受到极大制约。为解决这些问题，本文提出一种基于力学分析与动力学仿真的自驱动管道机器人设计，重点攻克垂直爬升失效与T型分支管道通过性差等核心难题。该机器人采用轮式构型与模块化设计，以本体运动控制为核心需求。具体而言，首先利用SolidWorks完成机器人的三维建模，随后将模型导入ADAMS进行动力学仿真，为驱动模块优化与运动控制策略制定提供依据。为验证机器人的动态性能，搭建了亚克力管道实验平台。通过调整本体姿态以越障与择向，机器人已证明能够稳定穿越多种复杂管道场景。值得注意的是，本研究为管道机器人在中低压城市燃气管网检测中的应用提供了技术可行性参考。