Movement Control for an Omnidirectional Mobile Mechanism for Pipe-Inspection Robot in Small Diameter Pipes

Abstract

In recent years, the need for piping inspection has been increasing, and various in-pipe inspection robots have been studied and developed by several research and educational institutes and companies so far. However, there are few verification examples of moving mechanisms considering the run-through performance of pipe fitting (bent pipes and branch pipes).

We have proposed an omnidirectional mobile mechanism for pipe-inspection robot in small diameter pipes. A movement control method in the pipe by omnidirectional movement mechanism equipped with four independent rotary wheels has been discussed. It was shown that the approach of movement control of vehicles was applicable. The straight, spiral and rotary movements can be confirmed by modeling of the omnidirectional mechanism and simulation using proposed method.