Kinetostatic Analysis of the Propulsion System for a Mobile in-pipe Inspection Robot
Problem statement. The structural integrity of extensive pipeline networks is critical for economic and environmental safety, demanding reliable inspection methods. Mobile In-Pipe Inspection Robots (IPIRs) offer a non- disruptive solution; however, the design of their propulsion systems for confined and complex environments remains challenging. Existing analytical frameworks often exhibit a disconnect between kinematic modeling (motion planning) and force analysis (stability and traction), particularly for advanced hybrid locomotion strategies.