Modular Pipe Climber

Abstract

This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 -15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at 120° to each other. The tracks provide for greater surface traction compared to wheels [2]. The tracks are pushed onto the inner wall of the pipe by passive springs which help in maintaining the contact with the pipe during vertical climb and while turning in bends. The modules have the provision to compress asymmetrically, which helps the robot to take turns in bends in all directions. The motor torque required by the robot and the desired spring stiffness are calculated at quasistatic and static equilibriums when the pipe climber is in a vertical climb. The springs were further simulated and analyzed in ADAMS MSC. The prototype built based on these obtained values was experimented on, in complex pipe networks. Differential speed is employed when turning in bends to improve the efficiency and reduce the stresses experienced by the robot.

Pipe Climbing Robot

“…Pipe climbing robots with three balanced modules are more steady and give better portability. Prior proposed secluded line climbers [10,11] have used three driving tracks arranged symmetrically to each other, similar to MRINSPECT series of robots [12,13,14]. In such robots, to effectively control the three tracks, their speeds were pre-characterized for the line twists.…”

“…In such robots, to effectively control the three tracks, their speeds were pre-characterized for the line twists. This represented a constraint for the robot to arrange pipe-twists just at a specific direction comparing to the pre-characterized speeds [10,11,12,13,14]. In genuine applications, the robot's direction change assuming it encounters slip in the tracks during movement.…”

In-Pipe Robot

“…Pipe climbing robots with three adjusted modules are all the more consistent and give better movability. Earlier proposed detached line climbers [10,11] have utilized three driving tracks organized evenly to one another, like MRINSPECT series of robots [12,13,14]. In such robots, to viably control the three tracks, their rates were pre-portrayed for the line turns.…”

“…In such robots, to viably control the three tracks, their rates were pre-portrayed for the line turns. This addressed an imperative for the robot to orchestrate pipe-contorts exactly at a particular bearing contrasting with the pre-described rates [10,11,12,13,14]. In certifiable applications, the robot's course change accepting it experiences slip in the tracks during development.…”

Design and Analysis of Modular Pipe Climber-III with a Multi-Output Differential Mechanism

“…(e-mail: vish-nukmr001@gmail.com) Pipe climbing robots with three symmetrical modules are more stable and provide better mobility. Our earlier proposed modular pipe climbers [10], [11] have used three driving tracks arranged symmetrically to each other, similar to MRINSPECT series of robots [12]- [14]. In such robots, to actively control the three tracks, their velocities were pre-defined for the pipebends.…”