Khairulnizam Othman, Department of Mechanical Engineering, Centre for Diploma Studies, University Tun Hussein Onn Malaysia, 86400, Parit Raja, Batu Pahat, Johor, Malaysia

M. Naim, Department of Mechanical Engineering, Centre for Diploma Studies, University Tun Hussein Onn Malaysia, 86400, Parit Raja, Batu Pahat, Johor, Malaysia

M. Iqbal, Department of Mechanical Engineering, Centre for Diploma Studies, University Tun Hussein Onn Malaysia, 86400, Parit Raja, Batu Pahat, Johor, Malaysia

Naomi, Department of Mechanical Engineering, Centre for Diploma Studies, University Tun Hussein Onn Malaysia, 86400, Parit Raja, Batu Pahat, Johor, Malaysia

N. Izlynda, Department of Mechanical Engineering, Centre for Diploma Studies, University Tun Hussein Onn Malaysia, 86400, Parit Raja, Batu Pahat, Johor, Malaysia

Suhairi Ismail, Department of Mechanical Engineering, Centre for Diploma Studies, University Tun Hussein Onn Malaysia, 86400, Parit Raja, Batu Pahat, Johor, Malaysia

Abstract
Mechanical design pipe inspection robot with various pipe diameter adaptability and automatic traction force installing is developed for long distance inspection of main water pipe nondestructive evaluation and health monitoring with different diameter series. On the basis of analyzing the mechanical actions of the adaptation to pipe diameter and traction force installing, the related mechanical models are established, and their control system structure and control strategy are discussed. The experimental results show that the theoretical analysis in this research is valid and the prototype of this robot can work well in actual underground water pipelines. As a mobile carrier for visual inspection and non-destructive testing to monitor block, corrosion, crack, defect, and wall thickness of main water pipelines, its inspection range extended around 1000 m wireless. Design and implementation consists in combining the capacity of self-moving with that of self-sustaining and the property of low weight and dimension.

Keywords
Keywords: Design pipe inspection; various pipe diameter; Traction force installing; Water pipelines.

Cite this paper
Khairulnizam Othman, M. Naim, M. Iqbal, Naomi, N. Izlynda, Suhairi Ismail, MECHANICAL STRUCTURE OPTIMIZATION OF PIPE INSPECTION ROBOT FOR DOMESTIC WATER PIPE LINE , SCIREA Journal of Mechanical Engineering. Volume 1, Issue 1, October 2016 | PP. 58-69.

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