Development of spiral driven type mobile robot for NDT inspection in small pipes of thermal power plants

A high traction force mobile robot has been developed as a platform for a long distance inspection under 10cm scale diameter pipes for plants facilities. The dimensions of robot body and optimal mechanism were studied to maximize the robot volume capacity and traction force. The mechanism was adopted with a spiral driven type to drag a cable and pass through a u-bent pipe area. Performance tests and robot system modifications were carried out in a real scale mock-up to verify and review the applicability in utilities.