Abstract
The purpose of this research is to realize a pipe inspection robot which can adapt to pipe diameter of 1 to 3 inch. The robot is composed of 13 links and driven by progressing motion of sine wave. It obtains driving force by holding wall of the pipes. To decrease the number of cables, the small servo controller is installed in the robot in each link. The controller is composed of PIC and a small motor driver circuit, and these are connected by the I2C communication. In addition, to strengthen the grip power, the cover made of the silicone was produced. As a result, it came to be able to negotiate T-pipes and elbow pipes smoothly, and to travel in a vertical pipe.
