Novel mechanisms and simple locomotion strategies for an in-pipe robot that can inspect various pipe types

In this paper, we present a new design and simple locomotion strategies for a pipe inspection robot that can travel through various pipe configurations including vertical, elbow, and branch pipes. Two specific mechanisms in the robot are important for successful locomotion: the Adaptable Quad Arm Me...

Full description

Saved in:
Bibliographic Details
Published in:Mechanism and machine theory 2012-10, Vol.56, p.52-68
Main Authors: Lee, Dongwoo, Park, Jungwan, Hyun, Dongjun, Yook, GyungHwan, Yang, Hyun-seok
Format: Article
Language:English
Subjects:
Adaptable Quad Arm Mechanism (AQAM)
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Curvature
Elbows
Exact sciences and technology
In-pipe robot
Industrial metrology. Testing
Locomotion
Mathematical analysis
Mechanical engineering. Machine design
Pipe
Pipe bends
Pipings, valves, fittings
Reduced branch pipe
Robotics
Robots
Steel design
Strategy
Swivel Hand Mechanism (SHM)
Zero-radius of curvature branch pipe
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, we present a new design and simple locomotion strategies for a pipe inspection robot that can travel through various pipe configurations including vertical, elbow, and branch pipes. Two specific mechanisms in the robot are important for successful locomotion: the Adaptable Quad Arm Mechanism (AQAM) and the Swivel Hand Mechanism (SHM). The AQAM allows the robot to travel in reduced branch pipes and branch pipes with zero-radius of curvature, which are both common in real life but which pose a challenge to the previously developed in-pipe robots. The SHM enables the robot to change its orientation, and in particular, allows it to bypass bumps. Modeling and simulations were conducted to test the validity and practicality of the proposed design and strategies. The prototype was able to travel successfully through elbow and vertical pipes with a diameter of 305mm and zero-radius of curvature reduced branch pipes of at least 305mm×259mm to 305mm×290mm or smaller. ► Two mechanisms and simple locomotion strategies were used for an in-pipe robot. ► Parameters of a prototype were determined based on simulations. ► The prototype showed successful locomotion in branch, elbow, and straight pipes.
ISSN:0094-114X
1873-3999
DOI:10.1016/j.mechmachtheory.2012.05.004