Development of Track Wheel for In-pipe Robot Application

Abidin, Ana Sakura Zainal; Pauzi, Muhammad Farhan Aiman Mohd; Sadini, Mohammad Muaz; Zaini, Muhammad Hamizan; Chie, Sim Chia; Mohammadan, Shahrol; Jamali, Annisa; Muslimen, Rasli; Ashari, Muhd Fadzli; Jamaludin, Mohd Syahmi

doi:10.1016/j.procs.2015.12.325

Cited by 11 publications

(11 citation statements)

References 6 publications

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“…Figure 2 shows an isometric view of the design. Caterpillar-based provides abundant gripping force that enable it to tackle the wall without any slipping [9]. The three foldable links improve the wall-pressed mechanism that can slightly compress or expand the caterpillar wheels to fit into the limited space especially in the elbow of pipeline.…”

Section: Methodsmentioning

confidence: 99%

Development of In-Pipe Robot D300: Cornering Mechanism

et al. 2017

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Abstract. Utilization of robots for in-pipe maintenance considered as one of the most effective ways to improve the pipeline operation. The specific condition and structure of a pipeline system is a challenge for the robots to perform its task. This research aims to assess the characteristic and performance of the in-pipe robot in a 90 0 pipe elbow. Hence, a prototype of in-pipe robot for 300 mm UPVC pipe diameter (IPR-D300) has been built. The conception of the robot is based on wall-pressed caterpillar type which is suitable for not only horizontal pipeline position, but also vertical and elbows pipeline. This robot is equipped with ultrasonic sensors, high performance microcontroller board and powerful geared motor for travelling in the corner of pipeline. The developed IPR-D300 consist of three independent driving modules that are able to alter the speed according to the pipeline characteristic. The hardware and software of the IPR-D300 performance have been tested and successfully perform the cornering task smoothly. The developed IPR-D300 potentially can be applied for in-pipe cleaning operation especially on centralised sewerage system. As standard pipeline size for sewerage system housing in Malaysia is 200 mm, smaller and robust in-pipe robot will be the future target.

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Section: Methodsmentioning

confidence: 99%

Development of In-Pipe Robot D300: Cornering Mechanism

et al. 2017

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“…There are several types of climbing robots; some robots climb inside a pipe, [2][3][4][5] while others climb outside of a pipe. [6][7][8] In terms of robot dynamics, 9 many scholars have conducted dynamic analyses of robots climbing vertical pipes, 10 and other researchers have also performed simple mechanical analysis of the friction that occurs during the climbing process.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints

Liu

Fan

et al. 2020

International Journal of Advanced Robotic Systems

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During the movement of a robot on the outside of a pipe, it either exhibits linear or rotating motion along the axis of the pipe. In this process, not only is there conversion between kinetic energy, potential energy, resistance power consumption, and external work, but there are also complex mechanical relationships that occur. To solve the dynamic problems of the out-pipe climbing robot in space, the axis and diameter of the pipe were simplified to the virtual joints of a robot with zero mass, and the virtual dynamic model of the robot in space has been established. According to the vector of the arbitrary position of a particle robot around an inclined pipe, combined with the improved Lagrange–Newton–Euler method, the system’s dynamic equation that includes friction has been established, and the required driving force for an arbitrary position of the robot in the process of circling an inclined pipe has been obtained.

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“…Nowadays, application of robots is widely used to assist humans in handling hazardous and difficult tasks. Application of robots in pipeline maintenance and inspection has been established for many years and become more popular due to the nature of inaccessible pipeline and hazardous environment [1]. IPR for cleaning operation of a sewerage pipeline has been developed.…”

Section: Introductionmentioning

confidence: 99%

“…The battery must be charged regularly to ensure sufficient level of power for operation until it reaches the next manhole (exit). The weight of the battery is the heaviest component compared to the total weight of the IPR [1]. Thus, the battery itself becomes a burden to the IPR as more power is consumed to move the heavy load.…”

Section: Introductionmentioning

confidence: 99%

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Energy Harvesting from Rotating Motion of In-Pipe Robot Cleaning Device

Abidin

Sawing

Mohamaddan

et al. 2019

IJAME

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In-pipe robot (IPR) needs a continuous and constant power supply for its operation. This research is a continuation from the previous IPR: D200 for cleaning operation. The objective of this research is to study the possibility of harvesting electrical energy from IPR and how much electrical output can be generated from the proposed solution. The concept is to re-use kinetic energy from high speed rotation of the IPR cleaning device to be converted into electrical energy which can be used to recharge the main battery. Two types of circuits have been developed namely unregulated charging circuit and regulated charging circuit. Both developed circuits are simulated using Livewire software. The developed circuits are then validated using experiment to measure the output voltage. Simulation results show that the unregulated charging circuit can produce output voltage of 10.90V while regulated charging circuit produces an output voltage of 5.47V. Experiments have confirmed that unregulated charging is able to produce higher voltage of 6.93V as compared to regulated charging circuit. The experimental results are lower than simulation results due to power loss during power transmission of the actual circuits. In the meantime, the unregulated charging circuit produced inconsistent output compared to the regulated charging circuit. Therefore, the regulated charging circuit will be considered for the IPR: D200 applications as well as other similar applications.

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Development of Track Wheel for In-pipe Robot Application

Cited by 11 publications

References 6 publications

Development of In-Pipe Robot D300: Cornering Mechanism

Development of In-Pipe Robot D300: Cornering Mechanism

Dynamic analysis of the arbitrary position of a particle robot around an inclined pipe based on virtual joints

Energy Harvesting from Rotating Motion of In-Pipe Robot Cleaning Device

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