Development of an inspection robot for small diameter distribution mains

This work discusses the design and construction of a robot for moving in small diameter pipes (down to 57 mm inside diameter), capable of negotiating curves, diameter changes, sharp bends and T-joints, intended for (semi) autonomous inspection of gas distribution mains. A number of fundamental design changes and improvements will be shown with respect to earlier designs. The new design is fully actuated using identical modules for facilitating ease of production and maintenance. It maintains the high spreading factor (63 mm 125 mm outside diameter) which allows it to be used in a large section of the (urban) low pressure gas distribution net. The robot is able to take a vertical climb, broadening the general application range and facilitating entry in the gas distribution network by means of vertically drilled holes. The robot is largely produced using additive manufacturing technology, having a huge impact on both the development process and the robot performance.