In order to study a new type of pipeline inspection robot, the overall structure of the pipeline climbing robot is designed for the actual environmental conditions and testing requirements. 3D modeling of the robot was carried out using Pro / E's 3D solid modeling function. This model is introduced into ADAMS, and its climbing process is simulated and analyzed. The speed of robot climbing and the output torque of each joint motor are determined when the motion is stable and reliable. The results show that the minimum turning torque required to ensure the stability of robot motion is400 N · mm. The minimum friction is 5N. Therefore, when the robot does not deviate from the direction, the trajectory of the robot is stable and reliable.
