Aiming at issues of slow crawling speed and complex remote control process of capsule robot, a vibration driven robot for small inner diameter pipeline detection is developed. Based on the non-smooth multi-body dynamics, a mathematical model of dynamic characteristics of the prototype is established. Two non-smooth nonlinearities , e.g., friction and impact, are considered in modeling, and the motion behavior and parameter influence of the robot are numerically analyzed. The robot prototype is developed, including microcontroller and wireless control module, and tested in a transparent acrylic pipe. With a length of 50mm and a diameter of 28mm, the robot can reach a maximum average forward speed of 7.5mm/s and a maximum backward speed of -3.5mm/s. The research proves feasibility of the vibration driven robot for small inner diameter pipeline detection.