Abstract
This paper describes development of an in-pipe mobile robot driven by pneumatic pressures. Town gas is supplied to houses through polyethylene pipes laid under the road. It is necessary to inspect these pipes regularly caused by the gas leak owing to earth load and oscillation for driving cars on the road. So we manufactured in-pipe mobile robot driven by pneumatic pressures on the model of a green caterpillar. The robot is structured by three somite and four suction brakes. In this work, we researched best diameter of suction brake to move in-pipe, robot's moving speed and traction force. As a result, the diameter of suction was 18 mm, the speed was 9.7 mm/s and the force was 4.2 N.
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