Abstract
This paper describes a pipe inspection robot with multiple joints. The robot is composed of units and connecting links. For the robot to move in a horizontal pipe, three or more units are connected. On the other hand, four or more units are needed in a divergence pipe. Also, it is able to deal with pipes of different diameters according to the number of units. Several experiments are conducted in pipes of different diameters, and the effectiveness of the mechanism of the robot is confirmed.
