Low-clearance pipe traversing robot

A modular robotic apparatus, comprising:

• a first module comprising:
• a first wheel and a second wheel;
• and
• a first clamping member coupling the first and second wheels and configured to (i) position the first wheel on a first circumferential one-third portion of an outer surface of a pipe, (ii) position the second wheel on a second circumferential one-third portion of the outer surface of the pipe, and (iii) apply a force for urging the first and second wheels towards the outer surface of the pipe for securing the robotic apparatus to the pipe;
• a second module comprising:
• a third wheel and a fourth wheel;
• and
• a second clamping member coupling the third and fourth wheels and configured to (i) position the third wheel on the first circumferential one-third portion of the outer surface of the pipe, (ii) position the fourth wheel on a second circumferential one-third portion of the outer surface of the pipe, and (iii) apply a force for urging the third and fourth wheels towards the outer surface of the pipe for securing the robotic apparatus to the pipe;
• and
• a third module comprising:
• a fifth wheel;
• and
• a connecting member having a first end coupled to the first module and a second end coupled to the second module so as to (i) position the fifth wheel on a third circumferential one-third portion of the outer surface of the pipe, and (ii) position the first module and second module at different axial positions along a length of the pipe,
• wherein the first, second, third, fourth, and fifth wheels are each configured to permit movement of the modular robotic apparatus in axial, circumferential, and helical directions along the pipe.