Abstract: For the impact of track parameters on the passability of pipeline robots, the cornering principle of pipeline robots is investigated. Firstly, a multi-parameter rectangular robot model is established based on the traditional cylindrical robot model, to study the influence of track length and width on the passability. Then, both the robot and pipeline structures are parameterized, the cornering motion is analyzed based on geometric constraints, and motion control laws during cornering are summarized. Finally, a pipeline robot model is developed by SolidWorks 3D modeling software, and the actual motion process of robot is simulated by Webots simulation software. Comparative analysis between simulation results and theoretical calculations verify the correctness of the analysis and rationality of the structural design. The research results demonstrate that this study provides theoretical support for both structural design and control strategies of four-axis tracked pipeline robots.