Design of a New In-Pipe Inspection Robot

Nayak, Ankit; Rubaai, A.

doi:10.1016/j.proeng.2014.12.451

Cited by 79 publications

(39 citation statements)

References 7 publications

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“…Recently, a new version of robots called in-pipe inspection robots was proposed to investigate the internal space of the pipes (for detecting the cracks, leaks, etc. ), where implementing non-destructive tests are commonly based on screw motion [25]. As known, in-pipe inspection robots are supposed to move fast and continuous with constant pitch of rate, and it is possible because of cylindrical locomotion with the required accuracy.…”

Section: Discussionmentioning

confidence: 99%

Effect of Degree-of-Symmetry on Kinetostatic Characteristics of Flexure Mechanisms: A Comparative Case Study

Zhang

et al. 2018

Chin. J. Mech. Eng.

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The current research of kinetostatic characteristics in flexure mechanisms mainly focus on the improvement of accuracy. To reduce or eliminate the parasitic motion is considered as an approach by using the common knowledge of symmetry. However, there is no study on designing the flexure mechanisms with symmetrical features as many as possible for better kinetostatic performance, when considering the resulting cost by the symmetry. In this paper, the concept of degree of symmetry (DoS) is proposed for the first time, which is committed to symmetry design in the phase of conceptual design. A class of flexure mechanisms with 0-DoS, 1-DoS, 2-DoS and 3-DoS are synthesized respectively based on the Freedom and Constraint Topology method. Their overall compliance matrices in an analytical form formulated within the framework of the screw theory are used to analyze and compare the effect of different number of DoS on the kinetostatic characteristics for flexure mechanisms. The finite element analysis (FEA) simulations are implemented to verify the analytical results. These results show that the higher the DoS is, the smaller the parasitic motion error will be. The flexure model with 3-DoS is optimized according to the overall compliance matrix and then tested by using the FEA simulation. The testing result shows that with the best combination parameters, the parasitic motion error for 3-DoS mechanism is almost eliminated. This research introduces a design principle which can alleviate the unwanted parasitic motion for better accuracy.

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Section: Discussionmentioning

confidence: 99%

Effect of Degree-of-Symmetry on Kinetostatic Characteristics of Flexure Mechanisms: A Comparative Case Study

Zhang

et al. 2018

Chin. J. Mech. Eng.

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“…Several researches have been proposed and developed in this area of robotics for varying diameter pipelines. For example, Ankit et al [1] proposed a screw type robot that is capable of working inside 127-152 mm diameter pipes. Zhang et al [2] developed an inchworm-type robot that can adapt itself to varying pipe diameters.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot

Venkateswaran

Furet

Chablat

et al. 2019

Volume 5A: 43rd Mechanisms and Robotics Conference

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Piping inspection robots are of greater interests in industries such as nuclear, chemical and sewage. The design of such robots is highly challenging owing to factors such as locomotion inside pipes with varying diameters, cable management, and complex pipe bends (or) junctions. A rigid bio-inspired caterpillar type piping inspection robot was developed at LS2N, France. By introducing tensegrity mechanisms and four-bar wheel mechanisms, the design of this robot is modified into a reconfigurable system. The tensegrity mechanism employs a passive universal joint with three tension springs and three cables for actuation. The positioning of the end effector with respect to the base of the mechanism plays an important role in determining the maximum tilt angle (or) bending limit of the system. By workspace analysis of three case studies, the best solution is chosen which generates the maximum tilt. A static force analysis is then performed on the mechanism to determine its stability under the influences of preload. By the modification of design parameters, stable configurations are determined followed by which cable actuation of mechanism is analyzed for estimating applied forces.

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“…Anthierens et al [3] developed an electro pneumatic robot which employs a metallic bellow system to pass through bends. A steering mechanism powered by servo-motors was designed by Ankit et al [4] to work through pipe bends. However, some interesting passive systems include the robot developed by Kwon et al [5] where a compression spring is employed to push and pull the two motor modules when working through T-sections and bends.…”

Section: Introductionmentioning

confidence: 99%

A new inspection robot for pipelines with bends and junctions

Venkateswaran

Chablat

2019

Advances in Mechanism and Machine Science

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The application of robots for the inspection of pipelines are of greater significance in industries such as nuclear, chemical and sewage. The major problem in the design of these robots lies in the selection of a suitable locomotion principle, selection of an articulation unit that facilitates the robot to pass through pipe bends and management of cables. In this context, the design of a new bio-inspired piping inspection robot that resembles an elephant trunk has been presented. With the help of leg mechanisms and actuators, a caterpillar locomotion is used within this trunk for establishing adaptive contact points with the walls of pipeline. For the passage through bends and junctions, several case studies of existing researches have been taken into account for the design of an articulation unit. Two solutions, (i) a passive tensegrity structure and (ii) an active tensegrity structure have been proposed for the robot to pass through pipe bends and junctions. A detailed design analysis of the passive solution that uses a universal joint has been presented in this article.

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Design of a New In-Pipe Inspection Robot

Cited by 79 publications

References 7 publications

Effect of Degree-of-Symmetry on Kinetostatic Characteristics of Flexure Mechanisms: A Comparative Case Study

Effect of Degree-of-Symmetry on Kinetostatic Characteristics of Flexure Mechanisms: A Comparative Case Study

Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot

A new inspection robot for pipelines with bends and junctions

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