A remotely controlled out-pipe climbing robot

In this paper, a concept, design, modeling and prototype of a remotely controlled out-pipe climbing robot for inspection such as nuclear power plant pipe and petrochemical complex pipes are discussed. The robot consists of two moving modules and one connecting arm which can alternatively maneuver on the pipeline surface. This mechanism is a good solution for pipe climbing and obstacle. After discussing conceptions of the mechanism, modeling and some practical aspects of the detailed design are presented. Attached video shows the climbing performance of the two module robot on a 6-inch vertical pipe segment, the rotating maneuver for circumferential out-pipe surface inspection, and the branch climbing maneuver by two module cooperation.