Abstract
In this paper, we present a new design and simple locomotion strategies for a pipe inspection robot that can travel through various pipe configurations including vertical, elbow, and branch pipes. Two specific mechanisms in the robot are important for successful locomotion: the Adaptable Quad Arm Mechanism (AQAM) and the Swivel Hand Mechanism (SHM). The AQAM allows the robot to travel in reduced branch pipes and branch pipes with zero-radius of curvature, which are both common in real life but which pose a challenge to the previously developed in-pipe robots. The SHM enables the robot to change its orientation, and in particular, allows it to bypass bumps. Modeling and simulations were conducted to test the validity and practicality of the proposed design and strategies. The prototype was able to travel successfully through elbow and vertical pipes with a diameter of 305mm and zero-radius of curvature reduced branch pipes of at least 305mm×259mm to 305mm×290mm or smaller.
Published Version
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
