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Structural Design and Motion Characteristics Analysis of the Inner Wall Grinding Robot for PCCP Pipes.
Yanping Cui1, Ruitian Sun1, Zhe Wu1
1School of Mechanical Engineering, Hebei University of Science and Technology, Shijiazhuang 050018, China.
Sensors (Basel, Switzerland)
|February 13, 2026
Summary
This study introduces a novel pipe grinding robot for anti-corrosion repairs of Prestressed Concrete Cylinder Pipes (PCCP). The robot ensures efficient and safe internal wall preparation, improving upon traditional manual methods.
Area of Science:
- Engineering
- Robotics
- Materials Science
Background:
- Internal wall grinding is crucial for Prestressed Concrete Cylinder Pipe (PCCP) anti-corrosion repair.
- Traditional manual grinding methods present challenges in efficiency and safety.
Purpose of the Study:
- To design a novel support-wheel-type internal wall grinding robot for PCCP.
- To overcome the limitations of manual grinding in PCCP repair operations.
Main Methods:
- Developed a robot with independent support wheel groups and an active-passive adaptation mechanism for stable locomotion.
- Incorporated a grinding module with three roller-type steel brushes for a composite three-helix grinding trajectory.
- Utilized mathematical modeling and ADAMS multi-body dynamics simulations for verification, alongside prototype testing.
Main Results:
- The robot demonstrated stable and reliable operation, consistent with theoretical analyses.
- Achieved excellent pipe traversability and robust driving capability.
- Confirmed the robot meets the requirements for internal wall grinding in PCCP pipes.
Conclusions:
- The developed robot offers an efficient and safe solution for internal wall grinding in PCCP anti-corrosion repair.
- The robot's design and performance validate its suitability for practical applications.
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