A Review: Technological Trends and Development Direction of Pipeline Robot Systems

Jang, Heesik; Kim, Tae Yu; Lee, Ye Chan; Kim, Yeon Soo; Kim, Jooyong; Lee, Hae Yong; Choi, Hyouk Ryeol

doi:10.1007/s10846-022-01669-2

Cited by 35 publications

(9 citation statements)

References 77 publications

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“…Numerous investigations are dedicated to various locomotion principles of in-pipe robots. For example, the recent papers [1] and [2] present a comprehensive analysis of the design and operational peculiarities of the in-pipe robots. Among a great variety of locomotion mechanisms, particularly wheeled, tracked (caterpillar), walking (legged), screw-type, inchworm-type, snake-type, etc., the wheeled ones are of the most widespread.…”

Section: Introductionmentioning

confidence: 99%

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

Korendiy¹,

Kotsiumbas²,

Borovets³

et al. 2022

Vib. proced.

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The in-pipe robots are currently of significant interest, considering numerous recent publications on this subject. Such machines can use various locomotion principles: wheeled, tracked (caterpillar), walking (legged), screw-type, worm-type, snake-type, etc. In most cases, such robots are equipped with an active drive system transmitting the torque from a motor shaft to the corresponding locomotion mechanism (wheels, tracks, etc.). The present paper is devoted to the wheeled in-pipe robot that doesn’t need a complex transmission. In such a case, the idea of implementing the vibratory locomotion system driven by an internal unbalanced mass is proposed. The corresponding kinematic diagram of the wheeled vibration-driven in-pipe robot is developed, and the differential equations describing the robot motion are deduced. In order to carry out the virtual experimental investigations, the robot’s simulation model is designed in the SolidWorks software. The major scientific novelty of the present research consists in developing the theoretical foundation for designing and practical implementation of the in-pipe robots driven by the inertial vibration exciters and equipped with the unidirectionally rotating wheels and overrunning clutches. The results of numerical modeling and computer simulation of the robot motion substantiate the possibilities and expediency of implementing the proposed vibration-driven locomotion principles while creating novel designs of the in-pipe robots.

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Section: Introductionmentioning

confidence: 99%

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

Korendiy¹,

Kotsiumbas²,

Borovets³

et al. 2022

Vib. proced.

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“…Recently, researchers have predominantly investigated bio-inspired robots for pipeline inspection. However, the biomimetic optimization of wheeled robots currently holding the most commercial potential [22] is overlooked. The operational environment of urban drainage pipelines is more complex than that of flat terrains.…”

Section: Introductionmentioning

confidence: 99%

A toe-inspired rigid-flexible coupling wheel design method for improving the terrain adaptability of a sewer robot

Zhang,

Chen,

Shen

et al. 2024

Bioinspir. Biomim.

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The human toe, characterized by its rigid-flexible structure comprising hard bones and flexible joints, facilitates adaptive and stable movement across varied terrains. In this paper, we utilized a motion capture system to study the adaptive adjustments of toe joints when encountering obstacles. Inspired by the mechanics of toe joints, we proposed a novel design method for a rigid-flexible coupled wheel. The wheel comprises multiple elements: a rigid skeleton, supporting toes, connecting shafts, torsion springs, soft tendons, and damping pads. The torsion springs connect the rigid frame to the supporting toes, enabling them to adapt to uneven terrains and pipes with different diameters. The design was validated through kinematic and dynamic modeling, rigid-flexible coupled dynamics simulation, and stress analysis. Different stiffness coefficients of torsion springs were compared for optimal wheel design. Then, the wheel was applied to a sewer robot, and its performance was evaluated and compared with a pneumatic rubber tire in various experiments, including movement on flat surfaces, overcoming small obstacles, adaptability tests in different terrains, and active driving force tests in dry and wet pipelines. The results prove that the designed wheel showed better stability and anti-slip properties than conventional tires, making it suitable for diverse applications such as pipeline robots, desert vehicles, and lunar rovers.

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“…In recent years, considerable research has delved into the use of in-pipe inspection robots (IPIRs) to aid in this maintenance [1] . For large-diameter pipelines, (> 75 mm Ø) solutions such as pipe inspection gauges exist and have demonstrated their use in industrial environments [2] . However, smaller ones tend to be more difficult to access and require more manoeuvrable inspection devices.…”

Section: Introductionmentioning

confidence: 99%

A review of worm-like pipe inspection robots: research, trends and challenges

Blewitt,

Cheneler,

Andrew

et al. 2024

Soft Sci

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In recent years, the development of worm-like robots has increased significantly. These robots use peristaltic motion comprised of radial expansion and axial elongation to move leglessly through their environments. Soft worm-like robots have the advantage of conforming to their environment, making them ideal for confined spaces such as pipelines which are essential to societal infrastructure. Pipeline contamination and corrosion can be detrimental and costly and thus regular checking is vital. Some pipes are difficult to access due to size, access restrictions and harmful waste contamination (such as in nuclear power plants). This has led to an increase of research into soft worm-like robots for pipe inspection. This review will analyse the recent progress in this area to assess current robotic capabilities and where work may be further needed to ensure they are applicable to real-world applications.

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A Review: Technological Trends and Development Direction of Pipeline Robot Systems

Cited by 35 publications

References 77 publications

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

A toe-inspired rigid-flexible coupling wheel design method for improving the terrain adaptability of a sewer robot

A review of worm-like pipe inspection robots: research, trends and challenges

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