Design and analysis of a flexible tendon-driven joint for in-pipe inspection robots

Abstract

Leaks in water distribution pipelines result in potentially significant losses of water resources and energy. The detection of such leaks is crucial for effective water resource management. In-pipe robots equipped with sensing devices are high potential solutions for accurate, efficient, and inexpensive leak detection. This work discusses the design, prototyping, and analysis of a tendon-driven flexible robotic joint that connects the sub-modules of an in-pipe snake-like robot. A simple, robust, well-sealed, and waterproof joint design is proposed. It enables the robot to handle complex pipeline geometry as it inspects the pipeline network during active hours. The joint designed has two degrees of freedom that enable the robotic platform to maneuver in 3 dimensions regardless of its roll orientation. Experiments were conducted to obtain the mechanical properties of the flexible joint and to confirm its functionality. The results of which are presented and discussed.