Multiconfigurable Inspection Robots for Low Diameter Canalizations

Gambao, Ernesto; Hernando, Miguel; Brunete, Alberto

doi:10.22260/isarc2005/0056

Cited by 9 publications

(1 citation statement)

References 7 publications

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“…A few research works have also been presented on design of a high-mobility robot with high accessibility to the surroundings and ability for using various sensors to determine the condition of pipes (Roh et al, 2001). Gambao et al (2005) designed a pipe inspection robot for narrow ducts able to fit through 35-mm-diameter ducts. This robot, thanks to the camera mounted on its head, could also take pictures of the internal walls of the duct and send it to the command module so as to detect the faults.…”

Section: Introductionmentioning

confidence: 99%

Developing an adaptable pipe inspection robot using shape memory alloy actuators

Hadi

Hassani

Alipour

et al. 2020

Journal of Intelligent Material Systems and Structures

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To detect and repair the faults existing in pipes and narrow ducts in the industry, access to the inside of these pipes is often required. In this article, the conceptual design for a miniature robot for inspecting the inner walls of pipes is presented, such that the proposed robot can operate adaptably and freely in vertical, inclined, and bent paths. The robot utilizes a simple mechanism based on shape memory alloy actuators for adjusting the contact force between the robot and the inner wall of the pipe. Use of shape memory alloys as actuators for the adaptive part will result in a smaller and lighter robot, further increasing its mobility in narrower ducts. Modeling, simulation, and control of the proposed system is conducted and simulation results are validated by performing practical laboratory experiments on a built prototype.

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Section: Introductionmentioning

confidence: 99%