Abstract
This paper describes a robot capable of inspecting a pipe. The robot consists of a fore leg system, a rear leg system and a body. The fore and rear leg systems are constructed by using three worm gear systems that are arranged at an angle of 120 degrees with respect to each other to operate inside pipes of different diameters. Also, the body is designed with two joints so as to change the direction in pipe junctions. Several experiments are conducted in pipes of different diameters, and the effectiveness of the mechanism of the robot is confirmed.
