A Novel in-Pipe Robot Design with Helical Drive

  • Houbab AbidEmail author
  • Ajmi Houidi
  • Abdel Fattah Mlika
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


Liquid and gas pipelines are all around us in today’s society. The frequent inspection and maintenance of such pipeline grids is very important. Recently, many pipeline inspection robot systems have been developed. In this paper, a novel in-pipe robot design is presented. The proposed design consists of two modules. The first one is the guiding module. It is formed by a driving motor and is guided along the pipe by a set of wheels moving parallel to the axis of the pipe. The second is the driving module. It is forced to follow a helical motion thanks to tilted wheels rotating around the axis of the pipe. Furthermore, the proposed design has much better mobility turning a bend due to its flexible systems supporting wheels. It has the capability to cross a bend without loses of balance and using a single drive motor. Afterwards the control of the system will be simple. Problem of robots with helical drive in the bend, new design, together with a comparative study between theoretical and simulation results will be presented as well.


In pipe robot Helical drive Bend pipe 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.ISET SousseSousseTunisia
  2. 2.ISSAT Sousse. LMSSousseTunisia
  3. 3.ENISO. LMSSousseTunisia

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