Manipulator for scanning of the pipes external surface

The paper presents a very simple manipulator, which can describe a circular trajectory, in order to position a scanning device for inspecting the external surface of a pipe. The open kinematic chain has only three active joints, and for equally spaced scanning positions around the pipe, its inverse...

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Bibliographic Details
Published in:MATEC web of conferences 2019, Vol.290, p.8015
Main Authors: Niţu, Constantin, Grămescu, Bogdan, Cartal, Adrian, Hashim, Ahmed Sachit
Format: Article
Language:English
Subjects:
Actuators
Gas pipelines
Inspection
Inverse kinematics
Natural gas
Petroleum pipelines
Pipes
Robot arms
Scanning
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Summary:The paper presents a very simple manipulator, which can describe a circular trajectory, in order to position a scanning device for inspecting the external surface of a pipe. The open kinematic chain has only three active joints, and for equally spaced scanning positions around the pipe, its inverse kinematics is derived by help of elementary geometry. The manipulator was built as a part of a mobile robot, serving for inspection and monitoring of the pipelines in the oil and gas industry. Being a demonstrator, its joints actuators are micro RC servos, so a calibration operation of each one was also performed.
ISSN:2261-236X
2274-7214
2261-236X
DOI:10.1051/matecconf/201929008015