An Optimal Design of a Flexible Piping Inspection Robot

Abstract This study presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired robot that moves like caterpillar was designed and developed at LS2N, France. By addition tensegrity mechanisms between motor modules, mobile becomes flexible to pass through bends. However, existing units prove be oversized passing pipe bends 90 deg. Thus, three cascading problems are presented in this article determine sizing assembly can overcome such The first problem deals with identification parameters mechanism based on static stability. Followed by that, second problem, optimum modules determined without presence leg mechanisms. third determination size results two previous problems. digital model optimized is then realized using cad software.