Kinematic Analysis and Locomotion Strategy of a Pipe Inspection Robot Concept for Operation in Active Pipelines

Bekhit, Amr; Dehghani, Abbas; Richardson, Robert C.

doi:10.11159/ijmem.2012.003

Cited by 14 publications

(11 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The construction characteristics of these robots include an extendable body for moving forward and two deformable platforms for supporting [1]. Bekhit et al [2], presented an inchworm robot based on the Gough-Stewart (G-S) parallel mechanism with two improved 3-DoF (degree of freedom) triangular platforms. The platform was constructed by replacing each edge with linear actuator and each vertex with revolute joint accordingly.…”

Section: Introductionmentioning

confidence: 99%

Self-crossing Motion Analysis of a Novel Inpipe Parallel Robot with Two Foldable Platforms

Ding

Yao

2015

Mechanisms, Transmissions and Applications

View full text Add to dashboard Cite

A novel pipeline robot that can realize both inchworm gait and a new concept of Self-crossing motion (SCM) gait is proposed. The robot is composed of two identical spatial foldable platforms and three identical RPR (revolute-prismaticrevolute) kinematic chains. The foldable platform that is essentially an improved plane-symmetric Bricard linkage with special twist angle can achieve a continuous turning inside out. By taking advantage of the locomotion cooperation among two platforms and three kinematic chains, the robot possesses large deformation capabilities (adapt to different pipe size), different locomotion modes (SCM, inchworm), and foldable and expandable capabilities (fold into flat or prism shape). Two different SCM strategies are described respectively. As displayed in dynamic simulation with integrated locomotion gaits, the SCM movement performs a larger step length and fast speed than general inchworm locomotion.

show abstract

Section: Introductionmentioning

confidence: 99%

Self-crossing Motion Analysis of a Novel Inpipe Parallel Robot with Two Foldable Platforms

Ding

Yao

2015

Mechanisms, Transmissions and Applications

View full text Add to dashboard Cite

show abstract

“…A prototype has been designed and built and dynamic simulations and experimental tests have been performed to validate the operation of the proposed robot and its ability in overpassing obstacles. 1 According to the authors' knowledge, the most efficient solution for obstacle climbing and overpass is obtained by hybrid systems dealing with tracks and subtracks. Main difference of the proposed solution from the most efficient obstacle climbers, like for example QUINCE [13] or Packbot [15] is the leg design concept, since legs are in contact with the ground/obstacle through the leg endpoints, they have been designed to get a suitable motion of the leg to approach the obstacle and overpass it.…”

Section: Introductionmentioning

confidence: 99%

“…They can be used for a wide range of applications including inspection, [1] service, [2] defence, manufacturing, cleaning, remote exploration, [3] rescue [4] and entertainment. Mobile robots can be classified according to the type of locomotion they perform as wheeled, tracked, legged or hybrid robots.…”

Section: Introductionmentioning

confidence: 99%

THROO: a Tracked Hybrid Rover to Overpass Obstacles

2014

View full text Add to dashboard Cite

In this paper, the design, simulation and experimental tests are presented for THROO: a Tracked Hybrid Rover, which has been developed to Overpass Obstacles. The proposed mobile robot has 3-DOFs and it is capable of straight motion, turning ability and two operations, namely rover-like motion with tracks on flat terrain and walking-like motion with track and legs to overpass obstacles to move on uneven terrain. The leg mechanism is composed of a four-bar linkage, which has been synthesized according to the desired features. In particular, the Burmester problem, which aims at finding the geometric parameters of a four-bar linkage required for a prescribed set of finitely separated poses are solved for the case understudy. Dynamic simulations have been carried out and a prototype has been built. The proposed results show the hybrid rover ability to overpass obstacles, for which size is comparable or greater than the track high.

show abstract

“…When both of the two platforms are replaced with deformable mechanisms, respectively, PMs can be designed as pipeline robot with worm-like motion, which can provide a low frontal area and body distribution around the pipe edge so as to minimize the resistance of fluid flow. Bekhit and Richardson 27 presented an inch worm robot based on the Gough-Stewart (G-S) PM with two improved 3-DOF expandable triangular platforms; Aracil et al 28 proposed a climbing robot based on G-S PM with two openable ring platforms in which each platform was designed with four grip devices arranged equally around the ring and telescoped for supporting. Jeon et al 29 designed a steerable inchwormtype in-pipe robot that consisted of two 1-DOF four crank-slider mechanisms acting as the extendable platforms and one pinion-rack-driven extensor mechanism.…”

Section: Introductionmentioning

confidence: 99%

Design and locomotion analysis of a novel deformable mobile robot with two spatial reconfigurable platforms and three kinematic chains

Ding

Ruan

Yao

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

A novel five degrees of freedom deformable mobile robot composed of two spatial reconfigurable platforms and three revolute–prismatic–spherical kinematic chains acting in parallel to link the two platforms is proposed to realize large deformation capabilities and multiple locomotion modes. Each platform is an improved deployable single degrees of freedom three-plane-symmetric Bricard linkage. By taking advantage of locomotion collaborating among platforms and kinematic chains, the mobile robot can fold into stick-like shape and possess omnidirectional rolling and worm-like motions. The mechanism design, kinematics, and locomotion feasibility are the main focus. Through kinematics and gait planning, the robot is analyzed to have the capabilities of rolling and turning. Based on its deformation, the worm-like motion performs the ability to overcome narrow passages (such as pipes, holes, gaps, etc.) with large range of variable size. Dynamic simulations with detailed three-dimensional model are carried out to verify the gait planning and provide the variations of essential motion and dynamic parameters in each mode. An experimental robotic system with servo and pneumatic actuation systems is built, experiments are carried out to verify the validity of the theoretical analysis and the feasibility of the different locomotion functions, and its motion performances are compared and analyzed with collected data.

show abstract

Kinematic Analysis and Locomotion Strategy of a Pipe Inspection Robot Concept for Operation in Active Pipelines

Abstract: Abstract-

Cited by 14 publications

References 23 publications

Self-crossing Motion Analysis of a Novel Inpipe Parallel Robot with Two Foldable Platforms

Self-crossing Motion Analysis of a Novel Inpipe Parallel Robot with Two Foldable Platforms

THROO: a Tracked Hybrid Rover to Overpass Obstacles

Design and locomotion analysis of a novel deformable mobile robot with two spatial reconfigurable platforms and three kinematic chains

Contact Info

Product

Resources

About