Design of Adaptive Wheel Driven Pipeline Inspection Robot

Kaiwart, Ayush; Dubey, Nikhil Dhar; Naseer, Farman; Verma, Ankush; Pradhan, Swastik

doi:10.1007/978-981-16-9613-8_54

Cited by 5 publications

(1 citation statement)

References 29 publications

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“…The novel prototypes of the adaptive wheeled and crawling mechanisms of mobile pipeline robots are considered in [6] and [7]. The authors of [8] discussed the enhanced mechatronic systems intended for semi-automatic monitoring and cleaning of the pipelines.…”

Section: Introductionmentioning

confidence: 99%

Development and investigation of the vibration-driven in-pipe robot

Korendiy,

Kachur,

Predko

et al. 2023

Vib. proced.

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Vibratory machines are widely used for monitoring and cleaning various tubes, pipelines, intestines, vessels, etc. The problems of ensuring the prescribed dynamic characteristics of such equipment and simultaneous optimizing the power consumption are currently being solved by numerous researchers. The main purpose of this study is to investigate the locomotion characteristics of the novel vibration-driven design of the pipeline inspecting and cleaning robot actuated by an electromagnetic exciter and equipped with the size-adapting and self-locking mechanisms. The research methodology consists of four main stages: an overview of the enhanced robot design; constructing its dynamic diagram and deriving the differential equations of motion; performing the numerical modeling with the help of the Mathematica software and studying the robot’s kinematic characteristics; conducting virtual experiments by computer simulation of the robot motion in the SolidWorks software. The research results present the time dependencies of the robot’s displacement, speed, and acceleration at different working regimes (excitation forces, disturbing frequencies, etc.). The novelty of the performed investigations consists in substantiating the efficient locomotion conditions of the enhanced vibration-driven in-pipe robot. Further investigations can be focused on developing the full-scale laboratory prototype of the robot and conducting experimental studies. The obtained research results can be interesting for engineers and scientists who deal with similar vibration-driven pipeline robots.

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Section: Introductionmentioning

confidence: 99%

Development and investigation of the vibration-driven in-pipe robot

Korendiy,

Kachur,

Predko

et al. 2023

Vib. proced.

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Development of a Fuzzy Logic Controller for Autonomous Navigation of Building Inspection Robots in Unknown Environments

Chang

Siu

2023

J. Comput. Civ. Eng.

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Robotic building inspection is gaining popularity as a way to increase the security, productivity, and cost-effectiveness of traditional inspection tasks. Despite the development of numerous building inspection robotic platforms, their motions still require manual control. To facilitate full automation, there is a need to explore autonomous navigation strategies for building inspection robots. Although various autonomous navigation strategies have been developed in the robotics field, few of them are suitable for building structural inspection behavior. In accordance with the responsibilities of professional inspectors, the robot is required to follow the structural components within a desired distance and dynamically avoid obstacles to conduct in-depth scanning. This navigation task becomes more difficult when providing smooth following path in special building scenarios, such as narrow corners. Motivated by this need, the present study aimed to explore autonomous navigation for building inspection robots. To save the cost of map construction, the local navigation strategies, which control the robots' travel in unknown environments, were targeted.Specifically, the objective is to develop a robust fuzzy logic controller (FLC) for wall-following behavior. The inputs are the distances within the designed interval ranges, which were measured with a 360-degree laser. The membership functions and the decision-making rules were designed based on robot and camera configurations, building designs, and structural inspection criteria. The outputs are the real-time angular and linear velocities. Tested in both simulation and real-world environments, the novelty of the designed FLC is: 1) enabling "finding wall," "wall-following," "turning," and "obstacle avoidance" behaviors in various unknown building scenarios; 2) preventing wavy motions; and 3) preventing path deviations for arbitrary surfaces. The results can be employed to perform daily structural inspections, and they are dedicated to automating the building inspection tasks. However, the FLC is sensitive to the reflective components because of the limitations of the position sensors.

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Mechanism design and mechanical analysis of pipeline inspection robot

Wang,

Zhou

et al. 2024

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PurposeThis study aims to address the issues of limited pipe diameter adaptability and low inspection efficiency of current pipeline inspection robots, a new type of pipeline inspection robot capable of adapting to various pipe diameters was designed.Design/methodology/approachThe diameter-changing mechanism uses a multilink elastic telescopic structure consisting of telescopic rods, connecting rods and wheel frames, driven by a single motor with a helical drive scheme. A geometric model of the position relationships of the hinge points was established based on the two extreme positions of the diameter-changing mechanism.FindingsA pipeline inspection robot was designed using a simple linkage agency, which significantly reduced the weight of the robot and enhanced its adaptive pipe diameter ability. The analysis determined that the robot could accommodate pipe diameters ranging from 332 mm to 438 mm. A static equilibrium equation was established for the robot in the hovering state, and the minimum pressing force of the wheels against the pipe wall was determined to be 36.68 N. After experimental testing, the robots could successfully pass a height of 15 mm, demonstrating the good obstacle capacity of the robot.Practical implicationsThis paper explores and proposes a new type of multilink elastic telescopic variable diameter pipeline inspection robot, which has the characteristics of strong adaptability and flexible operation, which makes it more competitive in the field of pipeline inspection robots and has great potential market value.Originality/valueThe robot is characterized by the innovative design of a multilink elastic telescopic structure and the use of a single motor to drive the wheel for spiral motion. On the basis of reducing the weight of the robot, it has good pipeline adaptability, climbing ability and obstacle-crossing ability.

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Design of Adaptive Wheel Driven Pipeline Inspection Robot

Cited by 5 publications

References 29 publications

Development and investigation of the vibration-driven in-pipe robot

Development and investigation of the vibration-driven in-pipe robot

Development of a Fuzzy Logic Controller for Autonomous Navigation of Building Inspection Robots in Unknown Environments

Mechanism design and mechanical analysis of pipeline inspection robot

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