Novel robot mechanism capable of 3D differential driving inside pipelines

Yang, Seung Ung; Kim, Ho Moon; Suh, Jung Seok; Choi, Yun Seok; Mun, Hyeong Min; Park, Chan Min; Moon, Hyungpil; Choi, Hyouk Ryeol

doi:10.1109/iros.2014.6942820

Cited by 13 publications

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This kind of robot require additional driving motors and pressure detection sensors to keep in contact with the inner surface of pipeline. The passive pipeline robot is one in which the driving force for motion and the force for pressing is generated by itself using springs or screws [19,20]. Spring has the advantages of simple structure and flexible scaling ability by which the robot can adapt to a small variation of pipeline diameter.…”

Section: Related Workmentioning

confidence: 99%

Design of hexapod robot equipped with omnidirectional vision sensor for defect inspection of pipeline’s inner surface

Guo,

Liu,

Zhou

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

Defect detection of inner surface of precision pipes is a crucial aspect of ensuring production safety. Currently, pipeline defect detection primarily relies on recording video for manual recognition, with urgent need to improve automation, quantification and accuracy. This paper presents a hexapod in-pipe robot with carrying capacity designed to transport the omnidirectional vision sensor to specified location within unreachable pipelines. The feasibility of the robot’s mechanical design and sensor load-carrying module is analyzed using theory calculations, motion simulations and finite element method. To address the challenges of small pixel ratio and weak background changes in panoramic images, a tiny defect segmentor (TDS) based on ResNet is proposed for detecting tiny defects on the inner surface of pipelines. The hardware and software systems are implemented, and the motion performance of the pipeline robot is validated through experiments. The results demonstrate that the robot achieves stable movement at a speed of over 0.1m/s and can adapt to pipe diameter ranging from of 110 to 130 mm. The novelty of the robot lies in providing stable control of the loaded vision sensor, with control precision of the rotation angle and the displacement recorded at 1.84% and 0.87%, respectively. Furthermore, the proposed method achieves a detection accuracy of 95.67% for tiny defects with a diameter less than 3 mm and provides defect location information. This pipeline robot serves as an essential reference for development of in-pipe 3D vision inspection system.

show abstract

Section: Related Workmentioning

confidence: 99%

Design of hexapod robot equipped with omnidirectional vision sensor for defect inspection of pipeline’s inner surface

Guo,

Liu,

Zhou

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes

et al. 2015

Sci. China Technol. Sci.

View full text Add to dashboard Cite

A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design (AD) theory is applied to evaluate and analyze the existing designs. Then an uncoupled concept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the proposed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the motion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots that have inclining-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping. screw drive, in-pipe robot, axiomatic design, tri-axial differential mechanism Citation:Li T, Ma S G, Li B, et al. Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes.

show abstract

Kinematic modeling and simulation of wheeled pipe robot in elbow at planar motion stage

Zhang

Meng

Sun

2017

2017 2nd Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)

View full text Add to dashboard Cite

Novel robot mechanism capable of 3D differential driving inside pipelines

Cited by 13 publications

References 15 publications

Design of hexapod robot equipped with omnidirectional vision sensor for defect inspection of pipeline’s inner surface

Design of hexapod robot equipped with omnidirectional vision sensor for defect inspection of pipeline’s inner surface

Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes

Kinematic modeling and simulation of wheeled pipe robot in elbow at planar motion stage

Contact Info

Product

Resources

About