Development of In-pipe Inspection Robot

Gargade, Atul; Ohol, S. S.

doi:10.9790/1684-1304076472

Cited by 19 publications

(4 citation statements)

References 15 publications

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“…Another classical application of pneumatic systems is that of locomotion of worm-like robots, where the absence of a solid structure often limits the range of available actuators. As a particular case, inchworm robots are appealing for pipe maintenance and diagnostics due to their shape and operational mechanism (Bertetto and Ruggiu, 2001 ; Sabzehmeidani et al, 2011 ; Gargade and Ohol, 2016 ). In fact, as discussed in (Di Lallo et al, 2018 ), inchworm robots substantially require two kinds of forces to implement propulsion: an impelling force and a holding force.…”

Section: Possible Application Examplesmentioning

confidence: 99%

Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots

et al. 2019

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Inspired by nature, soft robotics aims at enhancing robots capabilities through the use of soft materials. This article presents the study of soft continuum robots which can change their dynamic behavior thanks to a proper design of their damping properties. It enables an under-actuated dynamic strategy to control multi-chamber pneumatic systems using a reduced number of feeding lines. The present work starts from the conceptual investigation of a way to tune the damping properties of soft continuum robots, and leverages on the introduction of viscous fluid within the soft chamber wall to produce dissipative actions. Several solutions are analyzed in simulations and the most promising one is tested experimentally. The proposed approach employs a layer of granular material immersed in viscous silicone oil to increase the damping effect. After validation and experimental characterization, the method is employed to build soft continuum actuators with different deformation patterns, i.e., extending, contracting and bending. Experimental results show the dynamic behavior of the presented actuators. Finally, the work reports information on how the actuators are designed and builded, together with a discussion about possible applications and uses.

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Section: Possible Application Examplesmentioning

confidence: 99%

Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots

et al. 2019

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“…Oil and gas/water distribution is another sector which has experienced a rapid growth in the use of autonomous or tele-operated robots. Bearing in mind that a pipeline is the major tool of transportation for that specific area, serpentine/snake robots are used [25][26][27][28] to analyze the main problems that occur, which are due to aging, corrosion, and cracks in the pipe walls [29]. Moreover, modularity and scalability for such a kind of robot is the key issue [30].…”

Section: Introductionmentioning

confidence: 99%

Hybrid Inspection Robot for Indoor and Outdoor Surveys

Rea

Ottaviano

2023

Actuators

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In this paper, simulation and experimental tests are reported for a hybrid robot being used for indoor and outdoor inspections. Automatic or tele-operated surveys can be performed by mobile robots, which represent the most efficient solution in terms of power consumption, control, robustness, and overall costs. In the context of structures and infrastructure inspection, robots must be able to move on horizontal or sloped surfaces and overpass obstacles. In this paper, the mechatronic design, simulations, and experimental activity are proposed for a hybrid robot being used for indoor and outdoor inspections, when the environmental conditions do not allow autonomous navigation. In particular, the hybrid robot is equipped with external and internal sensors to acquire information on the main structural elements, avoiding the need for experienced personnel being directly inside the inspection site, taking information from the environment and aiding the pilot to understand the best maneuvers/decisions to take. Given the current state of research and shortcomings worldwide, this paper discusses inspection robots taking into account the main issues in their use, functionality and standard systems, and how internal sensors can be set in order to improve inspection robots’ performances. On this basis, an illustrative study case is proposed.

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“…So, doing inspection like taking the photo, film analysis in order to distinguish defects and eliminate them seems necessary. [6] One of the major reason for designing, making and using a pipe inspection robots with the capability of horizontal movement is their vast application in pipe inspection missions. The rest of this paper is organized as follows: Firstly, based on earlier pipe inspection review.…”

Section: Introductionmentioning

confidence: 99%

Design and Development of Pipe Inspection Robot Meant for Resizable Pipe Lines

Moshayedi

Fard

Liao

et al. 2019

IJRC

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Daily tasks mixed with the various applications in the robotic field. Since past, pipes have been used as the safe fluid transmitter. But gradually, these pipes affected by fatigue, cracking, leakage, sediment and breaking down. Also, sometimes humid environment and chemical products existing in the soil, causes rust and fatigue the pipes. All these problems lead to redundancy and impose high expenses for installation and maintenance. One of the recent inspection ways, is using the robot controller which leads to help and reduces the inspection time and preventive repairs activity. Besides, sometimes there are some unpleasant situation such as unfit pipes. It is obvious that in these conditions, doing inspection in toxic arena, narrow and meandering ways is impossible by human. So, designing a pipe inspection robot can be helpful in such circumstances. In this design, first, the former study, the way of operation, movement, mechanisms and advantages of each robot have studied. Then, by considering important parameters in designing, and sketching, making robot with the help of CATIA took place. This structure enjoys a regular mechanism design. It also has a proportional pipe diameter with the possibility of crossing through the slope routes. On the other hand, recording and processing of visual report, needs a camera and GUI toolbox written in Matlab. So image processing can help to exact investigation. One of the main difference of this research work over the various test on the platform, is hiring the mentioned toolbox which helps the operator to have the double investigation inside of the pipes. Moreover, the adjustable mechanism to pipe diameter, polyhedral movement and ascension power, relatively high efficiency in order to use frictional power and reducing repair and pause time are the advantages of this design. Also, observing the inner side of the pipe on the monitor, leads to reducing images. Moreover, its investigation by the introduced toolbox, causes more effective observation, more quickly diagnosis and analysis.

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Development of In-pipe Inspection Robot

Cited by 19 publications

References 15 publications

Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots

Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots

Hybrid Inspection Robot for Indoor and Outdoor Surveys

Design and Development of Pipe Inspection Robot Meant for Resizable Pipe Lines

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