MACHINES AND MECHANISMS

Study of the mechanism for opening the support legs of an in-pipe robot for movement inside pipelines

Authors

  • Dmitry N. Kuchev Perm National Research Polytechnic University, 29 Komsomolsky Prospect, Perm, 614990, Russia
  • Ilya S. Pishchalnikov Education Department of the Perm City Administration, 8 Sibirskaya St., Perm, 614000, Russia
  • Maxim E. Kichigin Perm National Research Polytechnic University, 29 Komsomolsky Prospect, Perm, 614990, Russia
  • Nikita N. Kuchev Perm National Research Polytechnic University, 29 Komsomolsky Prospect, Perm, 614990, Russia
DOI: 10.25726/z2968-3983-6106-e EDN: FQOLEY

How to cite

GOST Kuchev D. N., Pishchalnikov I. S., Kichigin M. E., Kuchev N. N. Study of the mechanism for opening the support legs of an in-pipe robot for movement inside pipelines // STROITEL'NYE I DOROZHNYE MASHINY. 2026. Vol. 70. No. 7. P. 72-81. DOI: 10.25726/z2968-3983-6106-e
APA Kuchev, D. N., Pishchalnikov, I. S., Kichigin, M. E. & Kuchev, N. N. (2026). Study of the mechanism for opening the support legs of an in-pipe robot for movement inside pipelines. STROITEL'NYE I DOROZHNYE MASHINY, 70(7), 72-81. https://doi.org/10.25726/z2968-3983-6106-e

Abstract

The development of universal in-pipe robotic systems is a pressing area of modern engineering robotics, as many existing diagnostic devices are designed for a limited range of pipeline diameters. Using separate robotic platforms for each size increases operating costs and complicates inspections of long pipeline systems. This paper investigates the support leg deployment mechanism of an in-pipe mobile robot designed for operation in pipelines with nominal diameters from 500 to 1400 mm. A radial deployment mechanism is proposed, equipped with telescopic support elements and a synchronous gear drive, which ensures simultaneous change in the position of all drive modules. To evaluate the performance of the design, a kinematic model of the mechanism was developed and the deployment process was simulated for various support leg rotation angles. The influence of the mechanism's geometric parameters on changes in the robot's bore diameter was studied, and rational ranges of operating positions were determined, ensuring stable centering of the structure inside the pipeline. The obtained results confirm the feasibility of using a single robotic platform for inspecting pipelines of a wide range of diameters without increasing transport dimensions, expanding the practical application of the developed technical solution and creating a basis for further research into the dynamics of in-pipe robot motion.

Keywords

in-pipe robot pipeline inspection deployment mechanism support legs telescopic design kinematic modeling mobile robotic systems adaptation to pipeline diameter engineering robotics

References

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Issue

Vol. 70 No. 7 (2026): Stroitel'nye i dorozhnye mashiny

Section

MACHINES AND MECHANISMS

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