Abstract
This paper outlines the design of a novel mechatronic system for semi-automatic inspection and white-water in-pipe obstruction removals without the need for destructive methods or specialized manpower. The device is characterized by a lightweight structure and high transportability. It is composed by a front, a rear and a central module that realize the worm-like locomotion of the robot with a specifically designed driving mechanism for the straight motion of the robot along the pipeline. The proposed mechatronic system is easily adaptable to pipes of various sizes. Each module is equipped with a motor that actuates three slider-crank-based mechanisms. The central module incorporates a length-varying mechanism that allows forward and backward locomotion. The device is equipped with specific low-cost sensors that allow an operator to monitor the device and locate an obstruction in real time. The movement of the device can be automatic or controlled manually by using a specific user-friendly control board and a laptop. Preliminary laboratory tests are reported to demonstrate the engineering feasibility and effectiveness of the proposed design, which is currently under patenting.
Highlights
In the last decade, we have been experiencing a growing demand for robotic systems aimed at assisting and collaborating with humans toward unsafe or difficult tasks, widening a great market potential for service robotics applications as reported, for example, in [1].In-pipe robots are one of the emerging areas of practical service applications where a robot can explore a pipe from the inside to perform various inspections and maintenance tasks.Pipeline grids of various sizes and materials are pervasive in today’s modern society and they require frequent inspection and maintenance, setting very challenging engineering tasks
This paper outlines the design of a PEIS novel robotic system for semi-automatic inspection and white-water in-pipe obstruction removal
The proposed device is characterized by a lightweight structure and high transportability
Summary
We have been experiencing a growing demand for robotic systems aimed at assisting and collaborating with humans toward unsafe or difficult tasks, widening a great market potential for service robotics applications as reported, for example, in [1]. In-pipe robots are one of the emerging areas of practical service applications where a robot can explore a pipe from the inside to perform various inspections and maintenance tasks. This work presents the mechanical, electrical and control design of PEIS (PipE Inspector System).
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
