Adapting Mechanisms for In-Pipe Inspection Robots: A Review

Rusu, C.; Tătar, Mihai Olimpiu

doi:10.3390/app12126191

Cited by 30 publications

(12 citation statements)

References 52 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to provide the adaptation of the wheeled traction systems to a certain pipe's diameter, the corresponding controlling mechanisms are used. The paper [3] considers a wide range of linkages used for changing the geometrical parameters of the wheeled in-pipe robots. In addition, such linkages provide the sufficient contact forces between the driving wheels and the inner surface of the pipe in which the robot is working.…”

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.

View full text Add to dashboard Cite

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.

show abstract

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.

View full text Add to dashboard Cite

show abstract

“…The proposed robot’s suspension, mathematical and simulation models, as well as the obtained results can be used by designers and researchers of similar vibration-driven locomotion systems while implementing their experimental and industrial prototypes for various purposes, particularly, for monitoring and cleaning the pipelines. In distinction to the existent papers devoted to the wheeled vibration-driven robots, in particular, ( Korendiy et al, 2022a ; Korendiy et al, 2022b ; Korendiy et al, 2022c ; Korendiy et al, 2022d ; Rusu and Tatar, 2022 ; Tagliavini et al, 2022 ; Loukanov, 2015 ; Loukanov and Stoyanov, 2015 ; Loukanov et al, 2016a ; Loukanov et al, 2016b ; Loukanov, 2016 ; Korendiy et al, 2022f ; Korendiy et al, 2022g ; Korendiy et al, 2023 ), the proposed improved design of the pantograph-type locomotion system allows for efficient using both horizontal and vertical components of the centrifugal forces generated due to the unbalanced mass rotation and actuating the robot’s body. The vast majority of the existent vibration-driven robots with centrifugal (inertial) exciters effectively utilize only the horizontal components of the disturbing forces, while the proposed system allows for increasing the operational efficiency of the exciter.…”

Section: Resultsmentioning

confidence: 99%

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension

Korendiy,

Kachur

2023

Front. Robot. AI

View full text Add to dashboard Cite

Introduction: The paper considers the improved design of the wheeled vibration-driven robot equipped with an inertial exciter (unbalanced rotor) and enhanced pantograph-type suspension. The primary purpose and objectives of the study are focused on mathematical modeling, computer simulation, and experimental testing of locomotion conditions of the novel robot prototype. The primary scientific novelty of the present research consists in substantiating the possibilities of implementing the enhanced pantograph-type suspension in order to improve the robot’s kinematic characteristics, particularly the average translational speed.Methods: The simplified dynamic diagram of the robot’s oscillatory system is developed, and the mathematical model describing its locomotion conditions is derived using the Euler-Lagrange differential equations. The numerical modeling is carried out in the Mathematica software with the help of the Runge-Kutta methods. Computer simulation of the robot motion is performed in the SolidWorks Motion software using the variable step integration method (Gear’s method). The experimental investigations of the robot prototype operating conditions are conducted at the Vibroengineering Laboratory of Lviv Polytechnic National University using the WitMotion accelerometers and software. The experimental data is processed in the MathCad software.Results and discussion: The obtained results show the time dependencies of the robot body’s basic kinematic parameters (accelerations, velocities, displacements) under different operating conditions, particularly the angular frequencies of the unbalanced rotor. The numerical modeling, computer simulation, and experimental investigations present almost similar results: the smallest horizontal speed of about 1 mm/s is observed at the supplied voltage of 3.47 V when the forced frequency is equal to 500 rpm; the largest locomotion speed is approximately 40 mm/s at the supplied voltage of 10 V and forced frequency of 1,500 rpm. The paper may be interesting for designers and researchers of similar vibration-driven robotic systems based on wheeled chassis, and the results may be used while implementing the experimental and industrial prototypes of vibration-driven robots for various purposes, particularly, for inspecting and cleaning the pipelines. Further investigation on the subject of the paper should be focused on analyzing the relations between the power consumption, average translational speed, and working efficiency of the considerer robot under various operating conditions.

show abstract

“…The proposed telescopic mechanism claims that the robot's propulsion speed is twice with the same power as compared to a traditional robot with a telescopic mechanism [18].To navigate a robot inside a pipe of varying diameter and section, it is necessary to adapt itself to the size of the pipe. A reconfigurable field robot has been developed to move inside circular and rectangular section pipes by incorporating the mechanism that permit it to adjust its width and height and shift its centre of mass (COM) to adapt a robot as per the size of the pipe [19,20].A cornering algorithm has been presented for crawler pipeline robots with an electric telescopic rod structures for controlling the smooth and stable operation of the robot in the pipeline. It is claimed that the optimization analysis of telescopic rod expansion and the ratio of the speed of each crawler has been performed to resolve the difficulty for the robot to adapt to the change of pipe diameter automatically [21].…”

Section: Existing In-pipe Robotsmentioning

confidence: 99%

Design and Development of Cam-Operated in-Pipe Robot (CIPR)

Nikhade,

Jha,

Admane

et al. 2024

Scientia Iranica

View full text Add to dashboard Cite

This paper presented a novel mechanism and dynamic model of cam operated in-pipe robot (CIPR) as a proof of concept. The CIPR would be useful for in-pipe inspection for detecting the defects like cracks, surface wear, damage, scaling etc. Based on the dynamic model, a gripping mechanism actuated by a three-lobed cam has been developed. A special three-lobed cam provides sufficient frictional force to maneuver and stop the robot inside the pipe of diameter 250 mm during inspection and cleaning task. A proposed dynamic model determines the frictional force and torque required to move the robot. A specially designed three-lobed cam makes the overall mechanism compact as compared to available inpipe robots. A single cam is adequate to exert uniform gripping force between the contact surface of the wheel and the inner surface of the pipe. In the present work, solid model of the CIPR is used to analyze and simulate the dynamics of the CIPR using ADAMS. The model is tested in simulated environment for vertical motion to determine the frictional force and wheel torque characteristics. The simulation results are in line with the analytical results. Further, the prototype is successfully maneuvering inside the pipefor different orientations.

show abstract

Adapting Mechanisms for In-Pipe Inspection Robots: A Review

Cited by 30 publications

References 52 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

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension

Design and Development of Cam-Operated in-Pipe Robot (CIPR)

Contact Info

Product

Resources

About