Development of a 3-inch In-pipe Inspection Robot with a Wire-driven Telescopic Mechanism for Emergency Evacuation “Xbot 1”

Abstract

This paper proposes a new emergency escape-ready 3 in in-pipe inspection robot “Xbot 1”, which combines a wire driven mechanism with parallel elastic elements in a link mechanism and a backdrivable rack-and-pinion mechanism. To examine the validity of the mechanism, a prototype of the proposed robot was fabricated and tested on an actual force main. Despite the harsh and slimy environment with sewage, the robot successfully traveled 7.5 m, including one bend with connecting part.