Design, Modeling and Prototyping of a Pipe Inspection Robot

摘要

Design, Modeling and Prototyping of a Pipe Inspection Robot Majid Mohammady Moghaddam, Mohammad Reza Arbab Tafti Abstract: one of the most important requirements in repairing and maintaining of pipelines is the ability to monitor and evaluate the pipes interior. This work deals with the design and prototyping of an apparatus to traverse piping systems for inspection, cleaning and or examination of the piping systems. At first, the existing pipe crawlers are studied and compared. Furthermore a mechanism of a crawler is proposed and modeled and the robot tested in vertical elbowed pipes and pipes with obstacle inside. A pan and tilt camera and an ultrasonic sensor are mated on the robot. However, any kinds of tools and sensors may be mounted on robot. Keywords: In-pipe inspection, Nondestructive test, Robot mechanism DOI: https://doi.org/10.22260/ISARC2005/0055 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley