This paper deals with a design and motion planning algorithm of a caterpillar-based pipeline robot that can be used for inspection of 80-100-mm pipelines in an indoor pipeline environment. The robot system uses a differential drive to steer the robot and spring loaded four-bar mechanisms to assure that the robot expands to grip the pipe walls. Unique features of this robot are the caterpillar wheels, the analysis of the four-bar mechanism supporting the treads, a closed-form kinematic approach, and an intuitive user interface. In addition, a new motion planning approach is proposed, which uses springs to interconnect two robot modules and allows the modules to cooperatively navigate through difficult segments of the pipes. Furthermore, an analysis method of selecting optimal compliance to assure functionality and cooperation is suggested. Simulation and experimental results are used throughout the paper to highlight algorithms and approaches.

This paper presents a new pipeline inspection robot that has multiple sensors for inspection of 80-100mm pipelines. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. Compared to popularly employed pipeline robots using three wheel chains, the new design allows simple robot control and easy user interface, specially at T-branch. As another advantage, the flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation.

This paper presents a new pipeline inspection robot with a linkage type mechanical clutch, which is designed for inspection of pipelines with 100mm diameter. This robot has three powered wheel chains each of which has a mechanical clutch. The mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the pipeline inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation.

There is no prior work on exact kinematic modeling for a pipeline robot having three powered chains. This work presents the closed-form kinematic model of the pipeline inspection robot driven by three caterpillar wheel chains. Next, optimal kinematic parameters are analyzed by using isotropic index and force transmission ration. Lastly, the feasibility of the kinematic model is verified through motion simulation for a virtual pipeline equipped with elbows and T-branches.

This paper deals with design and motion planning of a reconfigurable robot that can be used for inspection of 80-100 mm pipelines. This robot consists of two connecting modules and each module consists of three pairs of caterpillar, which is operated by micro DC motor. The robot is foldable by using an embedded four-bar mechanism and compression of a spring connected to the four-bar allows the robot to maintain contact with the wall of pipelines. Controlling the speed of each caterpillar independently provides a steering capability to go through elbow and T-branch. The robot system has been developed and the validity of this mechanism was proved by experimentation.

As the need of well-being life becomes popular, one of important issues is clean drinking water. Delivery of clean water from the main water fountain to the end user is very crucial. However, typical pipelines are being contaminated by rust and several chemicals. And thus the water being delivered to house is not trustful as the drinking water. Thus, cleaning and inspection of the in-house pipeline becomes an important issue. However, it is hard to find a small-sized motor adequate to the robot for the inspection of the in-house pipeline with diameter of 15 mm. Thus, this paper introduces a new semi-automatic pipeline inspection robotic system for small-sized pipelines. Three different types of inspection robot system were developed, which have different combination of sensors to realize SLAM. The robot system is carried by an extension cable, which is in advance being penetrated into the pipeline by a compressed air. The feasibility of the proposed SLAM using this semi-automatic pipeline inspection robotic system was verified through experimentation.