Inspection robot for parallel entry boiler header pipe

Adzly Anuar, Nur Shahida Roslin, Khairul Salleh Mohamed Sahari, M. Azwan Aziz

Research output: Contribution to journalArticle

5 Citations (Scopus)


This paper presents the development of inspection robot for parallel entry boiler header pipes with drastic change in diameter. The proposed robot consists of caterpillar based robot body, lifting mechanism and camera gimbal mechanism. These mechanisms are designed to adapt the sudden pipe diameter change from 89mm to 300mm. This robot applies differential drive locomotion system that provides turning ability plus forward and reverse movement. Lifting mechanism consists of linear transmission using leadscrew and scissors linkage mechanism. This enables the robot to retract when entering the parallel entry and expand in bigger pipe. Camera gimbal mechanism enables the robot to acquire 360° inner pipe surface image with its position. Experiments have been accomplished to investigate the functionality of these mechanisms. Results obtained shows that the robot has fulfilled its design requirements and achieved its objective.

Original languageEnglish
Pages (from-to)105-114
Number of pages10
JournalAdvances in Intelligent Systems and Computing
Publication statusPublished - 01 Jan 2014


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

Cite this