Majid. M. Moghaddam - Assistant Professor, Mechanical Engineering Department. Tarbiat Modarres University, Tehran, Iran.
Alireza. Hadi - Phd Candidate, School of Mechanical Engineering. University of Tehran Tehran, Iran.
Tooraj Abbasian - Phd Candidate, School of Electrical Engineering. University of Tehran, Tehran, Iran.

Sewer pipelines may encounter so many problems such as: entrance of foreign objects like roots of tree or lateral branches, gathering materials in a single place which cause obstruction, corrosion in surfaces of pipe or distraction of pipe in joints, existence like mouse and beetle, deformation in pipe cross section because of earth driving, problem in pipe slope. Sewer inspection robots are mobile robots which are specially developed for inspecting the interior of sewer pipelines. These robots send through the interior of the pipe by means of cable and could be controlled by PC through an operator outside the pipe. Different sensors placed on robots, provide useful information during the mission. In this paper, Sewbot is developed considering the requirements of sewer inspection including visual monitoring and sensory information measurement such as temperature, slope, pressure and so on. In mechanical design, major requirements such as sealing, explosion protection, enough degree of freedoms for mechanisms, robot mobility and adaptation to variable diameter pipes are considered. In electrical approach, critical points such as reliability, performance and extendibility are discussed. Consequently, the test results in real and live sewer pipes are presented.

Inspection, Robot, Sewer