Dynamic Modeling of an Out-Pipe Inspection Robot and Experimental Validation of the Proposed Model using Image Processing Technique

Sarvestani, Alborz Aghamaleki; Eghtesad, Mohammad; Fazlollahi, Farimah; Goshtasbi, Alireza; Mokhtari, Kasra

doi:10.1007/s40997-016-0012-x

Cited by 10 publications

(6 citation statements)

References 27 publications

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“…Since humans are unable to enter small pipes and it is dangerous for them to inspect pipelines at great heights, robotic-based inspection was developed. The pipeline inspection robots are classified into two types: In-Pipe Inspection Robots [1], [2] and Out-Pipe Inspection Robots [3], [4]. Out-Pipe robots are preferred over In-Pipe robots because they do not require the pipeline to be shut down during inspection [5].…”

Section: Introductionmentioning

confidence: 99%

An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

Elankavi¹,

Dinakaran²,

Chetty³

et al. 2022

Robotics, Automation and Non-Destructive Evaluation

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The magnetic adhesion of ring magnets classified under permanent magnets, which are employed in magnetic wheels for In-Pipe and Out-Pipe robots, is investigated in this paper. The study is carried out using FEMM software for ring magnets by changing their inner diameter and thickness against a minimum pipeline thickness. The results show that the adhesion force increases as the magnet thickness increases and reduces as the magnet's inner diameter increases. When it comes to inner and outer pipelines, the positioning of ring magnets is also a challenge. This is demonstrated using solidworks software by modelling a ring magnet and laying it over the inner and outer pipelines. Ring magnets of various thicknesses were found to be necessary for diverse pipeline diameters. So based on FEMM simulation and visualization from solidworks the optimal thickness and inner diameter for the ring magnet are derived. The simulation results help researchers choose the optimal ring magnet for the magnetic wheel for both In-Pipe and Out-Pipe robots.

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Section: Introductionmentioning

confidence: 99%

An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

Elankavi¹,

Dinakaran²,

Chetty³

et al. 2022

Robotics, Automation and Non-Destructive Evaluation

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“…To address this threat, several pipe-climbing robots have been developed recently that can perform inspection and maintenance on pipelines remotely [1,2]. Existing climbing robots can be classified into major categories according to locomotion principles, including legged type [3,4], wheeled/tracked type [5][6][7][8] and inchworm type [9][10][11]. Of note most of the existing pipe-climbing robots are based on rigid frameworks and are driven by electric motors, which have advantages for multi-DoF motion and precise control.…”

Section: Introductionmentioning

confidence: 99%

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Jiang¹,

Chen²,

Zhang³

et al. 2020

Bioinspir. Biomim.

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In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipeclimbing robots, which are important for automatically conducting periodic inspections and maintenance of pipelines to save time and keep humans away from hazardous environments, are designed mainly for a specific task, limiting their adaptability to different working scenarios and further implementation in real-life. In this paper, we propose a pipe-climbing robot with a soft linear actuator for bioinspired propulsion, two origami clutches to realize multi-degrees-of-freedom (DoF) motion and two pairs of soft modular legs for multimodal climbing. Design, modeling and experimental validation of the origami clutch are introduced in detail. Preliminary experimental results show that we can achieve a stroke of up to 289.6% and a maximum 45 degrees bending angle on the soft linear actuator by regulating the air pressure inside the soft actuator and origami clutches. Additionally, by choosing the leg-type, three climbing modes, including out-pipe versatile mode, out-pipe high-force mode and inpipe mode can be realized for particular working scenarios. A prototype climbing robot demonstrates that in out-pipe versatile mode, the robot can climb on the exterior of pipes made of various materials including PVC, rubber and metal with diameters ranging from 105 to 117 mm. In the out-pipe high-force mode, the climber can navigate along a specific pipe carrying maximum 675 g external load at the top or 200 g hanging from the bottom, as well as keeping functional without failure under static loads as high as 1968 g. In the in-pipe mode, the robot is able to travel inside pipes. This research might bridge the design gap between in-pipe and out-pipe climbing robots while offering an alternative option for soft robots to execute multi-DoF motion.

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“…There are several types of climbing robots; some robots climb inside a pipe, [2][3][4][5] while others climb outside of a pipe. [6][7][8] In terms of robot dynamics, 9 many scholars have conducted dynamic analyses of robots climbing vertical pipes, 10 and other researchers have also performed simple mechanical analysis of the friction that occurs during the climbing process. 11 Critical static analyses of arbitrary angles around the axis on an inclined pipe have also been performed in the literature 12 ; Bezak et al have described inverse dynamics model.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints

Liu

Fan

et al. 2020

International Journal of Advanced Robotic Systems

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During the movement of a robot on the outside of a pipe, it either exhibits linear or rotating motion along the axis of the pipe. In this process, not only is there conversion between kinetic energy, potential energy, resistance power consumption, and external work, but there are also complex mechanical relationships that occur. To solve the dynamic problems of the out-pipe climbing robot in space, the axis and diameter of the pipe were simplified to the virtual joints of a robot with zero mass, and the virtual dynamic model of the robot in space has been established. According to the vector of the arbitrary position of a particle robot around an inclined pipe, combined with the improved Lagrange–Newton–Euler method, the system’s dynamic equation that includes friction has been established, and the required driving force for an arbitrary position of the robot in the process of circling an inclined pipe has been obtained.

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Dynamic Modeling of an Out-Pipe Inspection Robot and Experimental Validation of the Proposed Model using Image Processing Technique

Cited by 10 publications

References 27 publications

An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints

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