In-pipe microrobot with inertial mood of motionl

Mechatronic in-pipe microrobots are intended to produce inspection or technological repair inside of the small diameter's tubes. In this paper the results of design and study of in-pipe electromagnetic mechatronic microrobot with inertial mood of motion are discussed. The prototypes of the in-pipe electromagnetic robots can move inside of horizontal, vertical and curvature surfaces of the tubes. The inertial mood of operations satisfy the robot's reverse motion in two directions without turning on 180 degrees. The design of this in-pipe robot is based on the application of controlling arresting devices and on the distinction of friction coefficients between working internal surfaces of robot and pipe in different phases of the motion to satisfy the braking and reliable alternate coupling of moving robot's part with internal surface.