Development of In-Pipe Robot D300: Cornering Mechanism

Ana Sakura Zainal Abidin, Sim Chia Chie, Muhammad Hamizan Zaini, Muhammad Farhan Aiman Mohd Pauzi, Mohammad Muaz Sadini, Shahrol Mohamaddan, Annisa Jamali, Rasli Muslimen, Muhd Fadzli Ashari, Mohd Syahmi Jamaludin

Research output: Contribution to journalConference articlepeer-review

6 Citations (Scopus)


Utilization of robots for in-pipe maintenance considered as one of the most effective ways to improve the pipeline operation. The specific condition and structure of a pipeline system is a challenge for the robots to perform its task. This research aims to assess the characteristic and performance of the in-pipe robot in a 90° pipe elbow. Hence, a prototype of in-pipe robot for 300 mm UPVC pipe diameter (IPR-D300) has been built. The conception of the robot is based on wall-pressed caterpillar type which is suitable for not only horizontal pipeline position, but also vertical and elbows pipeline. This robot is equipped with ultrasonic sensors, high performance microcontroller board and powerful geared motor for travelling in the corner of pipeline. The developed IPR-D300 consist of three independent driving modules that are able to alter the speed according to the pipeline characteristic. The hardware and software of the IPR-D300 performance have been tested and successfully perform the cornering task smoothly. The developed IPR-D300 potentially can be applied for in-pipe cleaning operation especially on centralised sewerage system. As standard pipeline size for sewerage system housing in Malaysia is 200 mm, smaller and robust in-pipe robot will be the future target.

Original languageEnglish
Article number02029
JournalMATEC Web of Conferences
Publication statusPublished - 2017
Externally publishedYes
Event9th International Unimas Stem Engineering Conference, ENCON 2016 - Kuching, Sarawak, Malaysia
Duration: 2016 Oct 262016 Oct 28

ASJC Scopus subject areas

  • Chemistry(all)
  • Materials Science(all)
  • Engineering(all)


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