A spiral actuated Micro In-Pipe Robot for pipes diameter 15mm

Micro In-Pipe Robots are strongly demanded in the application of micro pipe failure-detection in nuclear stations and actuation systems of ships. In this essay, a micro in-pipe robot based on 15mm diameter's pipe with new spiral driving system and cage structure was developed, and the mechanics model of the micro robot was built. By utilizing virtual modeling technology, the robot's structural parameters were analyzed and optimized, and a real model was manufactured using optimized parameters with maximum traction 21.49N, maximum moving speed over 10mm/s, which met the requirements of being micro in size and large in traction.