Steering System of Cylindrical Elastic Crawler Robot

摘要

Many different types of pipeline installations exist, such as pipelines used in chemical plants, water pipes and gas pipes. All must be examined and maintained to prevent severe accidents through a program of continual pipe inspection and repair. Herein, we have developed a cylindrical crawler robot for pipe inspection. We propose a simple crawler robot steering principle along with verification tests. The prototype robot with the proposed steering mechanism was able to travel through all T-branch paths.