Development of Cleaning Device for In-pipe Robot Application

Abidin, Ana Sakura Zainal; Zaini, Muhammad Hamizan; Pauzi, Muhammad Farhan Aiman Mohd; Sadini, Mohammad Muaz; Chie, Sim Chia; Mohammadan, Shahrol; Jamali, Annisa; Muslimen, Rasli; Ashari, Muhd Fadzli; Jamaludin, Mohd Syahmi; Ming, Chong Yee

doi:10.1016/j.procs.2015.12.326

Cited by 19 publications

(11 citation statements)

References 2 publications

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“…The IPR-D300 is designed to conduct cleaning operation. In order to serve the operation, the cleaning device is attached to a shaft located at the center of the main body [10] as shown in Figure 2 (marked by red circle).…”

Section: Methodsmentioning

confidence: 99%

Development of In-Pipe Robot D300: Cornering Mechanism

et al. 2017

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Abstract. Utilization of robots for in-pipe maintenance considered as one of the most effective ways to improve the pipeline operation. The specific condition and structure of a pipeline system is a challenge for the robots to perform its task. This research aims to assess the characteristic and performance of the in-pipe robot in a 90 0 pipe elbow. Hence, a prototype of in-pipe robot for 300 mm UPVC pipe diameter (IPR-D300) has been built. The conception of the robot is based on wall-pressed caterpillar type which is suitable for not only horizontal pipeline position, but also vertical and elbows pipeline. This robot is equipped with ultrasonic sensors, high performance microcontroller board and powerful geared motor for travelling in the corner of pipeline. The developed IPR-D300 consist of three independent driving modules that are able to alter the speed according to the pipeline characteristic. The hardware and software of the IPR-D300 performance have been tested and successfully perform the cornering task smoothly. The developed IPR-D300 potentially can be applied for in-pipe cleaning operation especially on centralised sewerage system. As standard pipeline size for sewerage system housing in Malaysia is 200 mm, smaller and robust in-pipe robot will be the future target.

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Section: Methodsmentioning

confidence: 99%

Development of In-Pipe Robot D300: Cornering Mechanism

et al. 2017

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“…frequently [2]. Owing to the complexity and number of pipe networks, workers cannot directly inspect pipes in narrow spaces.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of a Parallel-Pipe-Crawling Pneumatic Soft Robot

Zhang¹,

Wang²,

Wang

et al. 2019

IEEE Access

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Soft robots have unique advantages over traditional rigid robots and have broad application prospects in many fields, such as pipe inspections. Several of the reported pipe-crawling soft robots have long actuation periods and small locomotion speeds. Moreover, they lack active steering property to adapt to complex piping systems, such as T-shaped pipes. To solve the above problems, this paper proposes a novel parallel-pipe-crawling pneumatic soft robot consisting of three extensible pneumatic soft actuators and two flexible feet. The parallel structure and flexible feet allow the robot to reduce the number of steps in a crawling cycle. The extensible actuator allows the robot to change its body shape for active steering property. However, a complete mathematical model for soft robots with parallel structure is hard to establish. In this paper, the phenomenological modeling method is used to realize a mathematical model with high precision, limited calculation, and easy engineering applicability of the pipe-crawling soft robot. Then, the prototype of the robot is fabricated with the optimal structural parameters selected by finite element simulations. The static identification experiment shows that the average errors of the extended length and output force are 0.51 mm and 0.28 N, respectively. The crawling experiments in various scenarios show that the horizontal crawling speed is higher than 15 mm/s, the maximum load is 2.456 kg, and the minimum turning radius is 38.2 mm. The robot shows great potential for inspecting in complex pipes with high crawling efficiency, excellent flexibility, and strong adaptability by switching its crawling gaits. INDEX TERMS Finite element simulation, parallel, phenomenological modeling, pipe-crawling robot, soft robot.

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“…IPR for cleaning operation of a sewerage pipeline has been developed. A set of nylon cables were rotated by a high speed motor for cleaning operation of the IPR [2].…”

Section: Introductionmentioning

confidence: 99%

“…Mechanical and rotor powered systems are well established and widely used [4][5] [6]. Many wireless robots use conventional power source which is battery to operate [1,2,6]. Recently, a non-conventional power source started to get attention from researchers.…”

Section: Introductionmentioning

confidence: 99%

“…This project focuses on the method to extend performance of the battery by regenerating the power used by the IPR. The IPR is equipped with a high speed DC motor that rotates the nylon cables to create cutting effect for the IPR cleaning operation [1,2]. As the IPR cleaning device rotates at high speed during its operation, the rotation is potentially able to convert magnetic flux through a loop into induced current.…”

Section: Introductionmentioning

confidence: 99%

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Energy Harvesting from Rotating Motion of In-Pipe Robot Cleaning Device

Abidin

Sawing

Mohamaddan

et al. 2019

IJAME

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In-pipe robot (IPR) needs a continuous and constant power supply for its operation. This research is a continuation from the previous IPR: D200 for cleaning operation. The objective of this research is to study the possibility of harvesting electrical energy from IPR and how much electrical output can be generated from the proposed solution. The concept is to re-use kinetic energy from high speed rotation of the IPR cleaning device to be converted into electrical energy which can be used to recharge the main battery. Two types of circuits have been developed namely unregulated charging circuit and regulated charging circuit. Both developed circuits are simulated using Livewire software. The developed circuits are then validated using experiment to measure the output voltage. Simulation results show that the unregulated charging circuit can produce output voltage of 10.90V while regulated charging circuit produces an output voltage of 5.47V. Experiments have confirmed that unregulated charging is able to produce higher voltage of 6.93V as compared to regulated charging circuit. The experimental results are lower than simulation results due to power loss during power transmission of the actual circuits. In the meantime, the unregulated charging circuit produced inconsistent output compared to the regulated charging circuit. Therefore, the regulated charging circuit will be considered for the IPR: D200 applications as well as other similar applications.

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Development of Cleaning Device for In-pipe Robot Application

Cited by 19 publications

References 2 publications

Development of In-Pipe Robot D300: Cornering Mechanism

Development of In-Pipe Robot D300: Cornering Mechanism

Design and Modeling of a Parallel-Pipe-Crawling Pneumatic Soft Robot

Energy Harvesting from Rotating Motion of In-Pipe Robot Cleaning Device

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