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To date, scholars have only conducted theoretical research on pipeline robots with cylindrical shapes over bends. However, not all pipeline robots are cylindrical in shape. This paper presents a theoretical investigation of a rectangular pipeline robot&#x2019;s bending-passing ability using geometric and vector approaches and addresses dimensional limitations. Considering the shortcomings of most existing pipeline robots, such as the limited range of pipe diameters that are allowed, the inability to climb vertical pipes, and the single purpose, this study suggests a multi-functional modular pipeline robot that can support a wide range of pipe diameters. The drive module was constructed as a rectangular structure, which confirmed the accuracy of the bend-through theory. The driving module, as the central component of the pipeline robot, can accommodate pipe diameters ranging from 250 to 450mm. It was demonstrated that it can generate a traction force of approximately 600N, which can be used to drive other working modules.

Design of a Modular Pipeline Robot Structure and Passing Ability Analysis