Design and Development of an Eight-Legged Wheeled Wall Pressed In-Pipe Inspection Robot for Complex Pipeline Networks

Pipeline systems include intricate junctions and vertical sections that complicate the detection process for inspecting structural defects such as cracks and corrosions build up along the pipes pathway, an issue that is faced across many sectors in today's world.In this paper, the design and development of an eight-legged wheeled wall-pressed In-Pipe Inspection Robot (IPIR) tailored to operate around complex pipeline networks is conducted across several stages.Different classes of IPIRs have been briefly theorized for comparison across important feats and parameters.Then, the IPIR design is modified to navigate 10''-12'' varying diameter networks while overcoming any hurdle the pipeline networks can impose.The IPIR leverages a system composed of two motors powering an individual bevel gear each, that is operating harmoniously alongside a timing belt system, enabling the robot to propel forward.A universal joint is employed to allow more freedom for the IPIR during turns and junctions whereas mechanical springs are fitted throughout each pair of opposite legs to ensure adaptability and stability.Additionally, the proposed IPIR is verified first via SolidWorks design alongside force analysis calculations.Future work involves further physical testing of the electrical components alongside the IPIR performance through pipes and junctures.