A Pneumatic Robotic System for Inspection of Underground Electrical Conduit

This paper presents the design of a pneumatic robotic system to support the inspection of conduits according to the Electric Energy Company of the State of Rio Grande do Sul standard. Throughout the text is given an emphasis on mechanical solution developed, based on the movement of a caterpillar. Moreover, the pneumatic actuators are specified, the onboard electronics and thermal sensor used in the project. Results of the mechanical design and acquisition of images of the thermal camera are presented.