Conceptual design and modeling of an adaptable robotic mechanism actuated by shape memory alloys for inspection of low diameter pipes

In this study, design of a new robotic mechanism for traversing low diameter pipelines has been addressed. Pipe inspection, especially low diameter kind, for detecting defects has always gathered much interest for researchers in medical or industrial applications. Using a mechanism which move successfully into pipes with different diameters, with an appropriate adaptability while passing complex routes or pipe bend, has been under focus. In this study, a wheeled robot equipped to a simple adaptable mechanism and actuated by shape memory alloy is designed and analyzed. In addition, it is shown that using a controller, the exerted force between robot wheels and interior surface of pipe would be controlled. The simulation results show that the designed robot works properly in situations that simple wheeled robots are unable to traverse.