Inchworm Pipecrawler
The purpose
of this pipecrawler
robot is visual inspection of the interior of 4" diameter
pipes. The robot is
pneumatically actuated with grippers at each end and an extendable
middle section. It crawls down the pipe in an inchworm
fashion, the grippers alternately fix ends with respect to the piple,
while the center section
expands and contracts to create motion. Dr. Webster implemented design
enhancements to this robot at the Savannah River Site in 2001.