Modular Multiconfigurable Architecture for Low Diameter Pipe Inspection Microrobots

The inspection of low diameter pipes is a subject of great complexity due to the small operation environment in which the tasks must be developed. Besides, the construction of microrobots for specific pipe inspection is too expensive. In this article, a modular multiconfigurable architecture is presented. The fact of being modular and multiconfigurable makes it capable of performing different tasks and to adjust to different pipes and environments. Different types of modules that can be combined to form a whole microrobot and a control and communication system are also presented.