Papers by Keyword: In-Pipe

Abstract: This paper presents mechanism and control algorithm for inch worm type in-pipe robot using three helical springs. Control algorithm is based on experiment result and length of three spring are derived from desired position of top module. A feasibility of proposed mechanism is verified by comparing between ellipse model and position of top module, and it shows that proposed mechanism can steer properly.

Abstract: Pipes are everywhere; they are used in a variety of pipelines that should be inspected and maintained to ensure their safety and integrity. Currently, the in-pipe robot for such applications is considered as one of the most attractive solutions available. The most important thing, in-pipe robot must concerned adhesion mechanisms. Several adhesion mechanisms have been proposed and developed. We applied magnetic adhesion mechanism. Magnetic adhesion on in-pipe robots has some advantages such as fast locomotion, no additional energy for adhesion process, and one definite disadvantage like difficulty to control magnetic force. To solve this disadvantage, the permanent magnetic wheels that allow controllable magnetic force. This paper proposes a new in-pipe robot that applied controllable magnetic wheel. The idea is conceptualized, simulated, fabrication, and validated experimentally. The pulling force increases linearly form 8 newtons (N) to 26 newtons. It means that the proposed method is effective to control magnetic force between the wheel and interior surfaces of ferromagnetic pipes.

Abstract: The design and development of a screw-drive in-pipe robot is presented. The robot is composed of power-driving module, walking orientation module, universal joints, and accessories. The application of automatic spring structure on the robot improves its adaptability. The robot is able to move smoothly in the vertical, inclined, or horizontal pipelines, or even when the cross-section of the pipe is not strictly circular. The calculation formulae of robot walking speed and motor driving torque are derived in this paper. According to the geometries at the bend and the motion constraints, the robot turning capacity and turning condition are also analyzed. The vertical, bend, and other tests are performed on the experimental prototype, demonstrating that the screw-drive in-pipe robot provides sufficient tractive forces and good maneuverability and adaptability.

Abstract: In this paper, the authors present an in-pipe modular robotic system for inspection inside pipes with diameters ranged between 140 and 200 mm. The paper describes the components used for building the modules and the actuating systems.

Abstract: In this paper the authors present three wheeled-type in-pipe modular robotic systems, which are characterized by their adaptable structure based on linkage mechanisms. These modular systems are composed of driving modules (which use mechanisms with articulated elements) and passive modules.

Abstract: In this paper, we proposed two wheeled-type in-pipe modular robotic systems. These modular systems are composed of driving modules (which use mechanisms with articulated elements) and passive modules. The first module (driving module) generates the traction force. The passive module is necessary to carry the control electronic equipment and for the transport of the needed equipment for realization of the in-pipe inspection. The joint disposed (universal join) by the two modules of the robot offers the capacity of orientation of this one.