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Pipeline Crawling Robot Based on Triply Periodic Minimal Surfaces
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Jia-long LIANG1, Kai LUO2, De-chen LI3, Fei-fei CHEN1, *
Science Technology and Engineering | 2025, 25(3) : 1133 - 1141
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Science Technology and Engineering | 2025, 25(3): 1133-1141
• Papers·Automation and Computational Technology •
Pipeline Crawling Robot Based on Triply Periodic Minimal Surfaces
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Jia-long LIANG1, Kai LUO2, De-chen LI3, Fei-fei CHEN1, *
Affiliations
  • 1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • 2. Institute of Computer Application CAEP, Mianyang 621900, China
  • 3. China Academy of Launch Vehicle Technology, Beijing 100076, China
Published: 2025-01-28 doi: 10.12404/j.issn.1671-1815.2401635
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In response to the tasks of detection and maintenance in small-diameter pipeline transportation, a small-scale soft pneumatic pipeline crawling robot was designed and developed. The robot employed the technique of analytical implicit triply periodic minimal surface offset to form a solid structure with thickness, and achieved the anisotropy of structural stiffness by adjusting the parameters of implicit equations. Based on this, the radial and linear actuators were designed to meet the flexible motion requirements of the robot inside the pipeline. To optimize the performance of the robot, a joint parameter optimization framework based on MATLAB, Rhino, and ABAQUS was proposed, and an automated parameter optimization process was implemented using Python scripts. Through this framework, the motion performance and adaptability of the robot could be effectively improved. Based on two types of deformation actuators, the overall structure of the pipeline crawling robot was designed, and the manufacturing method and motion control gait were elaborated in detail. Experimental results show that the designed pipeline robot can stably move along the pipeline in two different postures and under certain load conditions, verifying the feasibility of the joint parameter optimization framework. The research results provide valuable references for the parameterized design and optimization research of subsequent pipeline crawling robots, which contributes to the application development of soft robots in the field of small-diameter pipeline detection and maintenance.

pipeline crawling robot  /  triply periodic minimal surface  /  actuator structural parameter optimization  /  soft robot
Jia-long LIANG, Kai LUO, De-chen LI, Fei-fei CHEN. Pipeline Crawling Robot Based on Triply Periodic Minimal Surfaces[J]. Science Technology and Engineering, 2025 , 25 (3) : 1133 -1141 . DOI: 10.12404/j.issn.1671-1815.2401635
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Article Info
doi: 10.12404/j.issn.1671-1815.2401635
  • Receive Date：2024-03-08
  • Online Date：2025-07-29
  • Published：2025-01-28
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  • Received：2024-03-08
  • Revised：2024-04-17
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Affiliations
    1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
    2. Institute of Computer Application CAEP, Mianyang 621900, China
    3. China Academy of Launch Vehicle Technology, Beijing 100076, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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