{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,11]],"date-time":"2026-05-11T04:08:57Z","timestamp":1778472537025,"version":"3.51.4"},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2026,3,2]],"date-time":"2026-03-02T00:00:00Z","timestamp":1772409600000},"content-version":"unspecified","delay-in-days":29,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2026,2]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>To address the limitations of existing external pipeline inspection robots, including a narrow range of adaptable pipe diameters and difficulty traversing obstacles like cross-pipelines, a novel wheel-clamping robot capable of circumferential rotation was designed. The composite drive mechanism of the robot adopts a dual-slider multi-link mechanism to realize the rapid switching of the two motion modes of the robot axis: forward and circumferential rotation. Following clarification of the robotic mechanism and component dimensions, a geometric model of key points was established, determining an adaptable pipeline diameter range of 74\u2013203 mm. The force analysis was carried out to analyze the working state of the robot axis forward and circumferential rotation, and the minimum driving torque required to complete the above two motions is 0.84 and 1.23 N\u00b7m, respectively. Finally, the robot prototype was made, and the experiments of the prototype running on the pipeline were carried out. The experimental results show that the average speed of the robot is 0.195 m\/s when it is moving along the axis on the pipeline, and it stably navigates obstacles through circumferential rotation, smoothly crossing T-shaped pipelines of different diameters, which is adaptable to the complex pipeline working conditions.<\/jats:p>","DOI":"10.1017\/s0263574726103269","type":"journal-article","created":{"date-parts":[[2026,3,2]],"date-time":"2026-03-02T08:07:37Z","timestamp":1772438857000},"page":"659-683","source":"Crossref","is-referenced-by-count":0,"title":["Design and analysis of wheel-clamping external pipeline inspection robot"],"prefix":"10.1017","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8807-6613","authenticated-orcid":false,"given":"Yongming","family":"Wang","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/02qdtrq21","id-type":"ROR","asserted-by":"publisher"}],"name":"Anhui University of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jun","family":"Zhang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/02qdtrq21","id-type":"ROR","asserted-by":"publisher"}],"name":"Anhui University of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sai","family":"Feng","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/02qdtrq21","id-type":"ROR","asserted-by":"publisher"}],"name":"Anhui University of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2026,3,2]]},"reference":[{"key":"S0263574726103269_ref6","first-page":"125","article-title":"Characterization of circumferential surface crack expansion in long-distance oil and gas pipelines","volume":"52","author":"Cao","year":"2024","journal-title":"Pet. Mach."},{"key":"S0263574726103269_ref9","doi-asserted-by":"crossref","unstructured":"[9] Xu, Y. , Wang, M. , Du, L. , Bao, S. , Hu, Z. and Yuan, J. , \u201cDesign of a Magnetic Hemispherical Wheeled Pipeline Robot,\u201d In: 2024 IEEE Int. Conf. Mechatronics Autom. (ICMA) (2024) pp. 1671\u20131676.","DOI":"10.1109\/ICMA61710.2024.10633034"},{"key":"S0263574726103269_ref4","first-page":"1","article-title":"Development history and outlook of China\u2019s oil and gas storage and transportation industry","volume":"38","author":"Huang","year":"2019","journal-title":"Oil Gas Storage Transp."},{"key":"S0263574726103269_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-013-0210-z"},{"key":"S0263574726103269_ref14","first-page":"929","article-title":"Elastic obstacle-surmounting pipeline-climbing robot with composite wheels","volume":"10","author":"Li","year":"2022","journal-title":"Machines"},{"key":"S0263574726103269_ref16","doi-asserted-by":"publisher","DOI":"10.2478\/amns.2021.2.00012"},{"key":"S0263574726103269_ref15","doi-asserted-by":"crossref","unstructured":"[15] Duanmu, X. , Chen, L. and Zheng, H. , \u201cDesign and Simulation of Pipe Outer Wall Robot Based on Omnidirectional Wheel,\u201d In: 2021 4th Int. Conf. Intell. Auton. Syst. (ICoIAS) (2021) pp. 402\u2013405.","DOI":"10.1109\/ICoIAS53694.2021.00078"},{"key":"S0263574726103269_ref17","first-page":"3","article-title":"Design and application oilfield pipelines inspection prototype robot (progressive cavity pumps and electric submersible pumps)","volume":"36","author":"Urdaneta","year":"2013","journal-title":"Rev. T\u00e9c. Ing. Univ. Zulia."},{"key":"S0263574726103269_ref12","first-page":"116","article-title":"Development of pipeline inspection robot","volume":"14","author":"Li","year":"2019","journal-title":"Sci. Tech. Innov."},{"key":"S0263574726103269_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2020.3043277"},{"key":"S0263574726103269_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2024.103239"},{"key":"S0263574726103269_ref5","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2017.12.019"},{"key":"S0263574726103269_ref7","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100128"},{"key":"S0263574726103269_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-016-0345-9"},{"key":"S0263574726103269_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.jsv.2020.115189"},{"key":"S0263574726103269_ref8","doi-asserted-by":"publisher","DOI":"10.1108\/IR-07-2024-0301"},{"key":"S0263574726103269_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3060189"},{"key":"S0263574726103269_ref10","doi-asserted-by":"publisher","DOI":"10.1080\/15397734.2023.2170884"},{"key":"S0263574726103269_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3079409"},{"key":"S0263574726103269_ref19","doi-asserted-by":"publisher","DOI":"10.1115\/IMECE2020-23163"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574726103269","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,11]],"date-time":"2026-05-11T03:32:19Z","timestamp":1778470339000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574726103269\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,2]]},"references-count":20,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2026,2]]}},"alternative-id":["S0263574726103269"],"URL":"https:\/\/doi.org\/10.1017\/s0263574726103269","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,2]]}}}