Novel Mechanism for In-Pipe Robot Based on a Multiaxial Differential Gear Mechanism

Kim, Ho Moon; Choi, Yun Seok; Lee, Yoon Geon; Choi, Hyouk Ryeol

doi:10.1109/tmech.2016.2621978

Cited by 72 publications

(39 citation statements)

References 17 publications

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“…Using Equation (19), the walking path equation of the robot in the elbow can be obtained, an example path is shown in Figure 14 (the diameter of the pipe was set as 200 mm, the radius of curvature was 500 mm, and the deflection angle of the driving wheel was 25°).…”

Section: Figure 12 Schematic Diagram Of the Robot Driving In A Curvementioning

confidence: 99%

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Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

Yan

Wang

et al. 2020

IEEE Access

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To repair leaking pipelines for oil, natural gas and other dangerous media, a kind of pipeline sealing robot is proposed. The device is mainly divided into a robot drive unit, connection unit, and blocking unit. The robot drive unit is used to pull the blocking unit, allowing it to move in the pipeline. The connection unit is used to connect the robot drive unit and the blocking unit. The blocking unit is used to complete the repair at the leakage point. When the robot operates, the drive unit drags the blocking device to the pipeline leakage location, and the front camera can detect the size and shape of the leakage hole. The sealing unit is located at the leakage point, an airbag is inflated, and the adhesive in it is used to seal and repair the leak. Two performance indices (climbing performance and curve passing performance) are evaluated when the robot drive unit is walking. A 3D model of the robot is established, and the performance index of the robot is simulated and analyzed using virtual prototype technology. An experimental platform is built for verification. The conclusions are as follows: (1) A spring with a 13 N/mm rigidity yielded the best performance, and the robot could crawl up a 37° slope. (2) When the deflection angle of the driving wheel was set to 30°, the robot could smoothly pass a bend with a radius of curvature of 500 mm. Thus, the robot performance met the design requirements.

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Section: Figure 12 Schematic Diagram Of the Robot Driving In A Curvementioning

confidence: 99%

“…Ho Moon Kim et al [19], a scholar at Sungkyunkwan University in South Korea, proposed a wheeled in-tube robot based on a multi-axis differential gear mechanism, called MRINSPECT VII. This robot had a simple structure and was easy to control, but the power source capacity was small and the robot could easily slip.…”

Section: Introductionmentioning

confidence: 99%

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

Yan

Wang

et al. 2020

IEEE Access

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“…Some wheeled and tracked systems use their design to allow them to corner. Both NIRVANA [25] and MRIN-SPECT VII [23] use multi axis gear mechanisms that allow for the wheels to spin at different speeds, providing differential drive without the need of controlling individual motors. This solution contains very complex gear mechanisms that would be very difficult to miniaturise for a 50 mm pipe making it unsuitable for this application.…”

Section: In-pipe Corneringmentioning

confidence: 99%

Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots

Brown

Carrasco

Watson

et al. 2018

J Intell Robot Syst

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Nuclear decommissioning is a global challenge with high costs associated with it due to the hazardous environments created by radioactive materials. Most nuclear decommissioning sites contain significant amounts of pipework, the majority of which is uncharacterised with regards radioactive contamination. If there is any uncertainty as to the contamination status of a pipe, it must be treated as contaminated waste, which can lead to very high disposal costs. To overcome this challenge, an in-pipe autonomous robot for characterisation is being developed. One of the most significant mechatronic challenges with the development of such a robot is the detection of elbows in the unknown pipe networks to allow the robotic system to autonomously navigate around them. This paper presents a novel method of predicting the direction and radius of the corner using whisker-like sensors. Experiments have shown that the proposed system has a mean error of 4.69 • in the direction estimation.

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“…Wheeled and crawler devices have a long history of use [5,6] and have the advantage of reaching speeds that are higher than those employing other propulsion techniques. However, these types of devices not only require a mechanism to ensure continuous rotation, but also a mechanism that generates a propulsion force of friction by pushing wheels or crawlers to an inner wall of a piping [7][8][9][10], thereby increasing design complexity. Thus, for simplification, several researchers have adopted the use of a mechanical spring to push wheels or crawlers to an inner wall and generate friction [11][12][13].…”

Section: Objectivementioning

confidence: 99%

Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

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Numerous studies have developed in-pipe locomotive devices to inspect pipes. However, it is difficult to achieve selective locomotion in a branched piping system. In this study, a novel steerable in-pipe locomotive device is proposed based on "a six-braided-tubes locomotive device, " which is an in-pipe locomotive device that is actuated by only six pneumatic inflatable tubes. It is one of the simplest in-pipe locomotive devices that is capable of forward and backward motion and can rotate in clockwise and counterclockwise directions along a pipe, can select the desired pathway in the branched pipe. In this paper, we discuss the background of pipe inspection, classify previously developed in-pipe locomotive devices, and clarify the aim of this study. Additionally, we also describe and extend the locomotive principles of six-braided-tubes locomotive devices. Moreover, we propose a novel attachment, termed steering hook, to enable steering in various types of branched systems. Finally, we experimentally confirm that the novel proposed principle allows the device to correct path selection in an in-pipe branched piping system.

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Novel Mechanism for In-Pipe Robot Based on a Multiaxial Differential Gear Mechanism

Cited by 72 publications

References 17 publications

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots

Development of a steerable in-pipe locomotive device with six braided tubes

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