In this paper, a new kind of pipe robot is developed. Compared with simple spring suspension system, the obstacle traversal module in this paper achieves a more balanced force distribution between the two wheels during obstacle traversal, enabling the robot to overcome higher obstacles. Additionally, it incorporates an active deformation mechanism, allowing users to flexibly adjust the pressure between the wheels and the pipeline surface to adapt to various pipeline environments. The robot is designed modularly, allowing for the attachment of various modules in the middle of the cantilever. Future work will focus on constructing a prototype of the robot and conducting experiments on physical objects to confirm the correctness of theoretical analyses.
