Modeling of the in-pipe inspection robot: a comprehensive review

• Main Authors: Shaikh Salim, Sheikh Ahmad Zaki, Mohd Yakub, Mohd Fitri, Ab Rashid, Mohd Zamzuri, Syed Mohd Putra, Sharifah Munawwarah, Roslan, Shairatul Akma, Mamat, Normaisharah M.
• Format: Article
• Language: English
• Published: Elsevier Ltd 2020
• Online Access: http://eprints.utem.edu.my/id/eprint/24974/2/3_PAPER%20ZAMZURI%20OCEAN%20ENGINEERING.PDF; http://eprints.utem.edu.my/id/eprint/24974/; https://www.sciencedirect.com/science/article/pii/S0029801820302638; https://doi.org/10.1016/j.oceaneng.2020.107206

The in-pipe inspection robotic system is crucial in examining the inside of a pipe without compromising its structural safety. The in-pipe inspection robotic system is a promising alternative to conventional methods of xray inspection and visual inspection. Despite the ongoing investigation, the effectiveness of the in-pipe inspection robotic system, particularly regarding the mathematical modeling of the system design, still needs to be improved. The in-pipe inspection robot which is normally equipped with a camera or non-destructive testing (NDT) equipment moves inside the pipeline to conduct a pipe integrity assessment. The main problem during an inspection is the restricted maneuverability of the robot due to geometric changes in the pipe. This can be overcome by designing a proper mathematical model to develop an effective inspection robotic system. Therefore, this paper provides a systematic review of different modeling types of the in-pipe inspection robotic systems, including the assessment of the kinematic and dynamic mathematical models for the system. This review paper covers in-pipe inspection robotic systems with several driving mechanisms such as fluid-driven, wheeled mobile drive (WMD), screw or helical drive, legged and biomimetic drives.