In-Pipe Navigation Robot for Nonuniform Pipe Diameter

Pipeline inspection is a part of the pipeline integrity management for keeping the pipeline in good condition. The pipeline internal inspection is normally carried out through nondestructive testing techniques and technologies such as magnetic-flux leakage technology inn axial and circumferential, ultrasound technologies, eddy-current technologies and in-pipe inspection robot. Traditional in-pipe navigation robots are of rigid type with some limitations in terms of adaptability to different pipe diameters. This paper describes the development of a soft in-pipe navigation robot which can hop and crawl for maneuverability in horizontal and vertical pipes for pipe inspection. The robot consists of four motors, cables, elastic ribbons and cable-driven soft artificial muscles. The elastic ribbons control the contraction and elongation of the robot for propulsion, while the artificial muscles anchor the robot to provide a strong grip in a pipeline. The buckling and releasing characteristics of the artificial muscle and elastic ribbons are studied based on the performance of the robot. These findings can aid in navigations and inspection inside pipelines with corners and different pipe diameters.