In recent years

soft robots have been used to probe the interior of narrow and complex pipelines. For application scenarios with small aperture and more T-shaped and L-shaped branch pipes

the motion efficiency and flexibility of soft robots in the pipeline face great challenges. For this problem

a small aperture pipeline pneumatic software robot is designed in this paper. Through Abaqus software

the design parameters of the robot are optimized

and the deformation performance is simulated and analysed under different actuators

and compared with other similar soft robot structures. The results show that the pipeline robot has good bending performance and extension performance

which can reduce the large deformation of the material and reduce the loss rate of the soft robot material.