In this study, design and analysis of a robotic mechanism, able to traverse low diameter pipes for inspection, maintenance or doing special tasks, has been addressed. Using a mechanism able to move properly along pipes with different diameter while having appropriate adaptability when passing complex routes or bends is so important. So, in this study, considering a simple mechanism based on utilizing shape memory alloy actuator, a micro-robot is designed for inspection of narrow pipes or channels. The robot has a suitable flexibility in addition to an appropriate adaptability for passing complex routes. The robot kinematics and dynamics is analyzed and dynamic equations of the robot are extracted and solved. The robot functionality in the simulation is verified through Adams and Matlab software. Finally, using a suitable controller the amount of robot traction force in addition to normal force between robot wheels and the inner surface of pipe has been measured and controlled. The simulation results predict the appropriate functionality and success of the robot in the inspection of pipes with varying diameter in horizontal, vertical or any other inclination state.

Keywords: Mobile Robot, Adaptability, Shape memory alloy (SMA), Low diameter pipe, Control

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