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

• Published in: Ocean engineering Vol. 203; p. 107206
• Main Authors: Ab Rashid, Mohd Zamzuri, Mohd Yakub, Mohd Fitri, Zaki bin Shaikh Salim, Sheikh Ahmad, Mamat, Normaisharah, Syed Mohd Putra, Sharifah Munawwarah, Roslan, Shairatul Akma
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.05.2020
• Subjects: Dynamic; In-pipe inspection; Kinematic; Modeling; Review; Robot; Kinematic; Dynamic; Review; In-pipe inspection; Robot; Modeling
• ISSN: 0029-8018; 1873-5258
• DOI: 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 x-ray 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.