Drive modules for pipe inspection microrobots

The inspection of low diameter pipes is a subject of great complexity due to the difficulty in finding miniaturised components and the precision that the design and manipulation must have. In this paper, two different approaches to a drive module for pipe inspection microrobots using miniaturised electrical motors are presented. The first one based on helicoidal movement and the second one based on worm-like movement. Use of stereolithography and micromachining for development of frames and casings is also presented.

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