Manipulator robot for crack detection and welding in underground process pipes

Abstract

A manipulator robot for crack detection and welding in underground process pipes is developed by the authors. Movement and crack detection ability of the robot are tested. Dye penetrant inspection technique is used for crack detection. The size of the robot is set to help easy movement in pipes of diameter as low as 450mm. This paper presents some of the features and other key design details of this robot.