Research on Obstacle Clearing Capabilities of Pipe Inspection Robot with Screw Motion

The Driving system’s 3D model of pipe inspection robot with screw motion is built.The dynamic analysis of the Driving system’s capability of crossing the lug boss and T-joints in pipe is made.The relationship between lug boss crossing ability and both preloaded spring’s rigidity and pretightening force are studied.The geometric constraint and dynamics constraint when passing T-joints are discussed.Then,the models are analyzed and validated according to the calculating examples.