Modeling and Fabrication of a Mobile Inspection Microrobot Driven by a Pneumatic Bellows Actuator for Long Pipes

This paper details the modeling and fabrication of an in-pipe mobile inspection microrobot able to move long distances on small diameter pipes using pneumatic and vacuum pressure switched by an electromagnetic valve for driving the microrobot. We propose that the electromagnetic valve be used near the pneumatic actuator to move the distance. A pneumatic pressure of +300kPa and vacuum pressure of -80kPa are supplied to the electromagnetic valve by two air tubes 140m long. The microrobot with four friction rings at both ends of the actuator moves 20m in 15 minutes on vinyl chloride pipe with an inner diameter of 44mm.