Abstract
This research is on the development of a pipeline inspection robot with spiral moving capability. This pipeline inspection robot is structurally similar to a differential wheeled robot, but has a stretchable supporting arm with an active steering wheel on the top. When traveling in the pipeline, the robot can either move in three-wheel mode in which the robot is supported by the two differential wheels and the steering wheel for better stability. In the inspection mode, by properly stretching the supporting arm, the normal force on the pipe wall can be maintained adequately. Furthermore, by adjusting the speed of the actuation wheels and the direction of the steering wheel, a spiral motion can be resulted. An experimental prototype is constructed. Experiments are conducted to verify the performance of the robot including automatic travel along the pipeline and spiral movement inside the pipeline without turning over.