An In-pipe robot with multi-axial differential gear mechanism

Kim, Ho Moon; Suh, Jung Seok; Choi, Yun Seok; Trong, Tran Duc; Moon, Hyungpil; Koo, Jachoon; Ryew, Sungmoo; Choi, Hyouk Ryeol

doi:10.1109/iros.2013.6696361

Cited by 20 publications

(4 citation statements)

References 10 publications

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“…It is based on a multi-axial differential gear mechanism to provide traction forces to the robot. The major concept of the MRINSPECT series is the differential drive which can drive through a curved pipe, branch pipes and straight pipes of diameter 150 mm to 200 mm by controlling the speed of each driving wheel [14,15]. A mobile robot has been developed for inspecting oil pipelines composed of six groups of symmetrical supporting wheels with an advanced control system [16].…”

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

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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.

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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

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“…It provides complete multi-physics all-round detection such as magnetic flux leakage detection, optical detection, ultrasonic detection for oil and gas pipelines. Moon Kim et al applied a multi-axis gear differential mechanism to MRINSPECT VI [8], which solved the problem that the speed of the robot wheels could not be accurately controlled during the rotation of the inner wall of the pipe, resulting in the uncoordinated rotation of the wheels, thus consuming unnecessary energy and causing irreparable damage to the robot.…”

Section: Research Status Of Pipeline Robotmentioning

confidence: 99%

Research Status and Technical Difficulties of Pipeline Robot

Lv¹,

Xu²

2023

SJT

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With the development of economy and social progress, the development of China's industrial sector is booming, and the construction of oil and gas pipelines is speeding up. The inspection and maintenance of pipelines has become the current research focus. Through the analysis of the working environment and characteristics of the existing six categories of pipeline robots, the current research status of pipeline robots is systematically expounded, and the current research difficulties of pipeline robots are summarized. The summary and analysis contents have certain reference value for the future research of pipeline robot.

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“…Many very different designs exist for mechanisms moving inside pipes. In the category of wheeled inspection vehicles (as opposed to crawling snake-like robots [14] or pneumatic inch-worm type mechanisms [5]) a distinction can be made between clamping mechanisms and nonclamping. A different branch of magnetic wheels [15], tailored for moving only in ferro-magnetic pipes is not considered here.…”

Section: B State Of the Artmentioning

confidence: 99%

Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization

Dertien

Foumashi

Pulles³

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper discusses the design of a vehicle for in-pipe inspection using omnidirectional wheels and active stabilizing control. A novel propulsion mechanism is discussed using omnidirectional wheels (or omni-wheels) is presented which allows direct control of the orientation in the pipe. This paper will show the development and evaluation of a prototype model. Rapid prototyping techniques have been used in this proof-of-principle.

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An In-pipe robot with multi-axial differential gear mechanism

Cited by 20 publications

References 10 publications

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

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

Research Status and Technical Difficulties of Pipeline Robot

Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization

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