Adapting Mechanisms for In-Pipe Inspection Robots: A Review
Source abstract
Abstract
In-pipe inspection robots have proven useful in examining the inside of pipes without affecting their structure, therefore, the interest in researching these robots has constantly increased over time. There are many different types of inspection robots, but the most commonly used are the wall pressed type. This paper proposes a review of the wall pressed type inspection robots in terms of adapting mechanisms. By adapting mechanism is meant a simple linkage or a combination of linkages, with an active or passive force generation system used to adapt the robot to variations in pipe diameter. The characteristics of the different adaptation mechanisms are compared and analyzed regarding the type of linkages used, how the pressure force on the pipe wall is obtained, and the possibility of ensuring the movement through inclined or vertical pipes with elbows and branches.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Soft Robotics and Applications · Robot Manipulation and Learning · Power Line Inspection Robots
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechatronics and Machine Dynamics, Technical University of Cluj-Napoca, 400641 Cluj-Napoca, Romania
References (56)
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