Adapting Mechanisms for In-Pipe Inspection Robots: A Review

In-pipe inspection robots have proven useful in examining the inside of pipes without affecting their structure, therefore, interest researching these has constantly increased over time. There are many different types robots, but most commonly used wall pressed type. This paper proposes a review type terms adapting mechanisms. By mechanism is meant simple linkage or combination linkages, with an active passive force generation system to adapt robot variations pipe diameter. The characteristics adaptation mechanisms compared and analyzed regarding linkages used, how pressure on obtained, possibility ensuring movement through inclined vertical elbows branches.