Instantaneous kinematic analysis for a crawler type in-pipe robot

Park, Jung Wan; Jeon, Woongsun; Kang, Yoon Koo; Yang, Hyun Seok; Park, Hyuksung

doi:10.1109/icmech.2011.5971315

Cited by 6 publications

(4 citation statements)

References 18 publications

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“…Third, a robotic system with excellent threedimensional mobility and high adaptability to environmental conditions can be applied to pipelines with small diameter and low pressure. Such robots have been developed in several forms according to the method of movement: inchworm type [1][2][3], walking type [4,5], helical drive type [6,7], caterpillar type [8][9][10][11][12][13][14][15], and wheel drive type [16,17]. The inchworm type has been developed to probe the inside of small pipes.…”

Section: Introductionmentioning

confidence: 99%

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

Jang

Kim²,

Lee

et al. 2021

Robotica

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This paper presents a modularized autonomous pipeline inspection robot called MRINSPECT VII+, which we recently developed. MRINSPECT VII+ is aimed at inspect in-service urban gas pipelines with a diameter of 200 mm. The robot consists of five basic modules: driving, sensing, joint, and battery modules. For nondestructive testing (NDT), an NDT module can be added to the system. The driving module uses a multiaxial differential gear mechanism to provide traction forces to the robot. The sensor module recognizes the pipeline element using position-sensitive detector (PSD) sensors and a CCD camera. The control module contains a computing unit and manages the robot’s autonomous navigation. The battery module supplies power to the system. Each module is connected via backdrivable active joint modules, which provide flexibility while moving inside narrow pipelines. Additionally, the wireless communication module helps the system communicate with the ground station. We tested MRINSPECT VII+ in real pipeline environments and validated its feasibility successfully.

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Section: Introductionmentioning

confidence: 99%

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

Jang

Kim²,

Lee

et al. 2021

Robotica

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“…To overcome the problems mentioned, many researchers have studied and reported robot systems to enter and inspect inner environment of pipelines. [1][2][3][4][5][6][7][8] Developed robots have shown good performance to maneuver in pipes with various mechanism and actuators.…”

Section: Introductionmentioning

confidence: 99%

Estimation of a Pipe’s Features with In-Pipe Robot

Park

Jeon

Yang

2015

AMM

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Most of pipelines are installed under the ground, so maintaining is one of the most critical issue. Furthermore, their own locations are difficult to be identified because of its environment. For those reason, identifying the location of pipelines is widely under the research with in-pipe robots. Most methods estimate the heading direction of pipe robots as the axial direction of pipelines. However, more detail research about the axial directions of pipelines is necessary because the defined directions are not always aligned with the heading direction of pipe robot. Therefore, this paper described the estimating method of pipeline radius and its axial direction relative the robot. The relative direction and radius of a pipe are estimated from location of contact points which is determined based on geometry. Geometric equation contains highly nonlinear term, so those are obtained by the numerical form instead of closed form. The suggested method is verified by an experiment approach. Since the real relative axial direction is hard to detect, the slope of pipes are computed from estimated value and inertial measurement unit attached to the robot. Estimated radius and slope have some error in discrete curved pipe, but estimated values are well matched under straight pipes condition.

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“…En la Figura 1.6 se muestra el robot desarrollado por Park (Park, Jeon, Kang, Yang, & Park'S, 2011). Posee un sistema de tracción de tres orugas que le permiten su desplazamiento por el interior de las tuberías.…”

Section: Paroys IIunclassified

Diseño y Desarrollo de un Robot de Inspección de Tuberías

Lima¹

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Agradecimiento xvii 1 IntroducciónAdicionalmente RETOV fue diseñado para realizar inspección entre dos tuberías(la tubería de producción y el pozo petrolero), con un sistema de seguridad y una estructura liviana, RETOV puede ser equipado con sensores para medir las variables de interés en el pozo.El diseño de la mecánica y el programa de control, la instrumentación, los modelos matemáticos y resultados de las pruebas han sido descritos en esta Tesis.

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Instantaneous kinematic analysis for a crawler type in-pipe robot

Cited by 6 publications

References 18 publications

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

Estimation of a Pipe’s Features with In-Pipe Robot

Diseño y Desarrollo de un Robot de Inspección de Tuberías

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