A comparative design study on in-pipe inspection micro robots using AHP method

Abstract

The issue of low diameter pipe inspection microrobots is very important in microrobotic systems. This paper presents the results of a study on the various built or designed microrobots. This study includes comparing these in-pipe microrobots from dynamical efficiency, functionality, dynamical modeling and manufacturing points of view applying AHP method with the purpose of determining the best mechanisms in each field to assist the design of a novel microrobotic system with eliminating the existing problems.