Abstract
The need of improving the quality of professions led to the idea of simplification of processes during chimney sweeping. These processes have been essentially the same for tens of years. The goal of this paper is to bring an automation element into the chimney sweeping process, making the job easier for the chimney sweeper. In this paper, an essentially in-pipe robot is presented, which uses brushes to move while simultaneously cleaning the chimney or pipeline. The problem of the robot motion was reduced using an in-pipe robot due to the environments and obstacles that the robot has to face. An approach of using a pneumatic actuator for motion is presented along with the mechanical design. The next part of this paper is focused on the mathematical model of the robot motion, as well as its simulation and testing in the experimental pipeline. The simulations were compared with the experimental measurements and a few analyses were conducted describing the simulation model and its differences with the real robot, as well as considering certain parameters and their impact on the performance of the robot. The results are discussed at the end of the paper.
Highlights
One of the professions that has remained unchanged since its very beginning is the chimney-cleaning profession
The problem was generalized into an in-pipe robotic system, due to the similarities of the environments that the robot is going to move in
The analyses offer a deeper insight into the designing of chimney sweeping robots, showing the influence of individual parameters of the robot on its final motion properties
Summary
An essentially in-pipe robot is presented, which uses brushes to move while simultaneously cleaning the chimney or pipeline. The part of this paper is focused on the mathematical model of the robot motion, as well as its simulation and testing in the experimental pipeline. Of this paper, a brief overview of the related works that inspired our design process is presented. These works represent innovations in the area of in-pipe robots. The mechanical design is developed, as well as a mathematical model that describes the forces involved in the actuation process of this robot.
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