Abstract：A snake shaped pipeline grinding robot composed of several modules is designed, in which each module can be quickly disassembled and assembled, and the driving module provides the power for the robot to move forward in the pipeline. The robot can actively adapt to the straight pipe, bent pipe and combined pipe with an inner diameter of 250 mm~450 mm, and can realize various operation functions in the pipe with an emphasis on grinding. A velocity model suitable for the snake shaped pipeline grinding robot to pass through a bent pipe is proposed. Through the mechanical analysis on the robot, a method for calculating the interaction force between different modules is deduced, and the factors affecting the robot rotation in the pipe are obtained. The virtual prototype simulation is carried out with ADAMS software, which verifies the trafficability of the snake shaped pipeline grinding robot, and obtains the optimal matching of the robot for moving inside the pipeline. Finally, an experimental platform is built and a physical prototype of the robot is manufactured to verify the adaptability, trafficability and operation effect of the robot in the pipeline with an inner diameter of 250 mm~450 mm.
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