M.M Moghadam - Assist Professor
R.A Tafti - PHD Student
A.R Hadi - PHD Student

One of the most important requirements in repairing and maintaining of pipelines is the ability to monitor and evaluate the pipes interior. This work deals with the design and prototyping of an apparatus to traverse piping systems for inspection, cleaning and or examination of the piping systems. At first, the existing pipe crawlers are studied and compared. Furthermore, a mechanism of a crawler is proposed and modelled and the robot tested in vertical elbowed pipes and pipes with obstacle inside. A pan and tilt camera and an ultrasonic sensor are mated on the robot. However, any kinds of tools and sensors may be mounted on the robot.

Inspection, Mechanism, Nondestructive test, Monitoring, Control