An inspecting micro robotic system for cutting through the narrow slits

An experimental micro robotic system for cutting through the narrow slits has been developed to accomplish an inspection task in pipe bundle of a heat-exchanger in this paper. First, movement requirements of the robot in pipe bundle are discussed. Second, the mechanical structure of the system, including the positioning module, flexible module and micro vehicle of it, are also investigated. Third, the control system of the robotics system is presented. Finally, experiment results of the prototype system on a simulation platform are provided, and the results indicate that the development of the system has reached initial goal: inspecting cracks of pipe outer surface and scales in pipe bundle.