RUNNING TESTS OF A MICRO-ROBOT FOR INSPECTION IN UNDERGROUND TUBES

Abstract

This paper introduces a micro-robot for inspection, which is able to run inside curved underground empty tubes, developed recently in my laboratory. The micro-robot is able to run inside a tube with 100 mm diameter and 3R curvature in forward and backward dirctions by changing its speed based on a program. The experimental studies were performed in order to see the fundamental control functions of the micro-robot by driving it in both up and down and left and right directions. It is concluded from the experiments that the micro-robot developed in my laboratory satisfies the required design specifications.