An Optimal Design of a Flexible Piping Inspection Robot

Venkateswaran, Swaminath; Chablat, Damien; Hamon, Pol

doi:10.1115/1.4049948

Cited by 12 publications

(5 citation statements)

References 21 publications

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“…Then, using the ParallelSingularities function of SIROPA, the Type-2 singularities Equations ( 10)-( 12) are generated. The actual prototype that will be incorporated with the piping-inspection robot has the design parameters r f as 11 mm and h = 0.6 [16]. As an experimental validation is carried out in the upcoming section, a scaled value of r f = 56.7 mm for h = 0.6 is chosen for the singularity analysis [25].…”

Section: Results Of Singularity Analysis Using the Cad Algorithmmentioning

confidence: 99%

Mapping the Tilt and Torsion Angles for a 3-SPS-U Parallel Mechanism

Venkateswaran

Chablat

2023

Robotics

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This article presents the analysis of a parallel mechanism of type 3-SPS-U. The usual singularity approach is carried out with respect to the Euler angles of the universal joint. However, this approach is computationally expensive especially when stacked structures are analyzed. Thus, the positioning of the mobile platform for the mechanism is analyzed using the theory of Tilt and Torsion (T&T). The singularity-free workspace and the tilt limits of the mechanism are disclosed through this method. These workspaces can then be mapped to the Euler angles of the universal joint and the relation between the T&T space and the Euler space is demonstrated and validated in this study. Initially, simulations are performed using the results of singularity analysis to have a comparison between the T&T space and the Euler space. Experimental validation is then carried out on the prototype of the mechanism to perform a circular trajectory, in line with the simulations. The outcome of this study will be helpful for the integration of the mechanism for a piping inspection robot and also for the analysis of stacked architectures.

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Section: Results Of Singularity Analysis Using the Cad Algorithmmentioning

confidence: 99%

Mapping the Tilt and Torsion Angles for a 3-SPS-U Parallel Mechanism

Venkateswaran

Chablat

2023

Robotics

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“…This configuration is scaled up to carry out experiments on the tensegrity mechanism where r f is taken as 56.7 mm. A stability analysis carried out in [17] is verified for the 3-SPS-U mechanism and the value of h is chosen as 0.6. By setting joint limits, the singularity-free workspace is extracted for the tensegrity mechanism by using the CAD algorithm in Maple [16].…”

Section: Workpace Analysismentioning

confidence: 99%

“…In Eqn. (17), ω is a parameter which is determined from the torque constant (k t ), speed constant (k e ), resistance (R) and inertial parameters (J) of the DC-Motor [21]. Before the start of experiments, the ESCON servo controllers are calibrated in a computer.…”

Section: Force Control Algorithmmentioning

confidence: 99%

Trajectory Planning for a 3-SPS-U Tensegrity Mechanism

Venkateswaran

Chablat

2021

Volume 8B: 45th Mechanisms and Robotics Conference (MR)

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This article presents the actuation strategy of a 2-DOF tensegrity type mechanism that employs three tension springs and a passive universal joint. This mechanism is proposed to be incorporated as an articulation unit for a piping inspection robot in order to overcome pipe bends and junctions. In the event of a junction, external actuations are required to allow the mechanism as well as the robot to follow a certain direction. Using DC-motors coupled with encoders, experiments are carried out on a test bench of the tensegrity mechanism. The actuation of the mobile platform is performed using cables that pass through each spring. By correlating the architecture to a 3-SPS-U parallel mechanism, the singularity-free workspace of the mechanism is analyzed to identify the tilt limits. A closed-loop PID controller is implemented using a microcomputer to perform a linear trajectory within the singularity-free workspace. The Inverse Kinematic Problem (IKP) is solved by passing input tilt angles to the controller. With the help of a force control algorithm, the experiments are carried out under no-load conditions for vertical and horizontal orientations of the mechanism. The error data of the joint positions and the motor torques are then interpreted for both orientations of the mechanism.

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“…1 Pipeline robots play an important role in accurately performing a given task and ensuring human health and safety. 2 There are crawlers, legged, and wheeled robots with simple manipulation and high reliability in conventional pipeline systems. 3 But for special pipeline systems that convey corrosive, flammable media, or small diameter, more stringent requirements are imposed on the size, sealing, and corrosion resistance of the robots.…”

Section: Introductionmentioning

confidence: 99%

Dynamic characteristics of two-mass impact pipeline robot driven by non-circular gears

Liu

Cao

et al. 2022

Advances in Mechanical Engineering

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Considering small diameter pipes, special pipes conveying corrosive, and flammable medium, a two-mass impact pipeline robot driven by a non-circular gear is proposed to study the walking dynamics of the robot in a dry piping environment. The mechanism principle of the two-mass impact pipeline robot is given to illustrate the walking mechanism of the robot under the combined action of the internal force and the external isotropic coulomb friction force. A dynamic model of a two-mass impact pipeline robot driven by non-circular gear is established. The dynamic response of the robot calculated by the numerical method reveals the walking characteristics of the pipe-impact robot under nonharmonic inertial force. The results show that the moving speed of the robot fluctuating rises with the increase of the input speed. The moving speed of the robot can be effectively improved by increasing the eccentricity of the non-circular gear or setting a certain amount of compression of the spring which is between the internal oscillator and the housing.

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An Optimal Design of a Flexible Piping Inspection Robot

Cited by 12 publications

References 21 publications

Mapping the Tilt and Torsion Angles for a 3-SPS-U Parallel Mechanism

Mapping the Tilt and Torsion Angles for a 3-SPS-U Parallel Mechanism

Trajectory Planning for a 3-SPS-U Tensegrity Mechanism

Dynamic characteristics of two-mass impact pipeline robot driven by non-circular gears

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