An Adaptive Parallel-Structure Robot for Operation within Interpipe Spaces

Challenges in the robotization of monitoring and cleaning hard-to-reach areas in the annular space of pipe-in-pipe (PIP) heat exchangers, between a submersible borehole pump and the casing and between the containment shell and the installed stay cable in the course of the construction of cable-stayed bridges are considered. A new concept for a universal adaptive robot with a parallel structure capable of operating over a wide range of annular space gaps is presented. The advantages of this robot compared to the existing systems are demonstrated.