Development of the Microrobot for Indoor Pipeline

Abstract:

Generally the in-pipe microrobots can be used for the mobile inspection of small diameter pipes. This paper describes the structure and design of an in-pipe microrobot. The suggested microrobot was built to use wheels for locomotion, and to be able to adapt its structure according to the inner diameter of the inspected pipe. Being powered using wires, the microrobot is not energetically autonomous. The microrobot is able to maintain its balanced state due to the pressure exerted by the wheels onto the inner surface of the pipe and it can adapt to pipe diameters ranged between 30 an 50 mm. The driving is achieved by using a DC motor with integrated gearbox. Motion transmission from the motor to the drive wheels is done by using three geared transmissions and the contact between the wheels and the pipe wall is continuously maintained trough a torsion springs mounted on the rotational joints of the wheel support elements. The testing of the microrobot was performed using a steel pipe with the diameter of 50 mm, placed both horizontally and vertically.

• Periodical: Applied Mechanics and Materials (Volume 658)
• Pages: 724-729
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.658.724
• Online since: October 2014
• Authors: Mihai Olimpiu Tătar*, Dan Mândru, Vasile Sergiu Jisa
• Keywords: Adaptable, Gear Transmissions, In Pipe, Microrobot, Traction Force

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