Advertisement

A Novel in-Pipe Robot Design with Helical Drive

  • Houbab AbidEmail author
  • Ajmi Houidi
  • Abdel Fattah Mlika
Conference paper
  • 68 Downloads
Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

Liquid and gas pipelines are all around us in today’s society. The frequent inspection and maintenance of such pipeline grids is very important. Recently, many pipeline inspection robot systems have been developed. In this paper, a novel in-pipe robot design is presented. The proposed design consists of two modules. The first one is the guiding module. It is formed by a driving motor and is guided along the pipe by a set of wheels moving parallel to the axis of the pipe. The second is the driving module. It is forced to follow a helical motion thanks to tilted wheels rotating around the axis of the pipe. Furthermore, the proposed design has much better mobility turning a bend due to its flexible systems supporting wheels. It has the capability to cross a bend without loses of balance and using a single drive motor. Afterwards the control of the system will be simple. Problem of robots with helical drive in the bend, new design, together with a comparative study between theoretical and simulation results will be presented as well.

Keywords

In pipe robot Helical drive Bend pipe 

References

  1. 1.
    Roh SG, Shoy HR (2002) Strategy of navigation inside pipelines with differentiel-drive inpipe robot. In: Proceedings IEEE international conference on Robotics and Automation (ICRA 2002) pp 2575–2580Google Scholar
  2. 2.
    Okamoto J Jr, Adamowsk JC, Tsuzuki M, Buiochi F, Camerini C (1999) Autonomous system for oil pipelines inspection. Mechatronics 9:731–743Google Scholar
  3. 3.
    Okada T, Sanemori T (1987) A three-wheeled sel-adjusting vehicle in a pipe, FERRET-1. Int J Robot Res 6(4):60–75CrossRefGoogle Scholar
  4. 4.
    Mharamatsu M, Namiki N, Koyoma U, Suga Y (2000) Autonomous mobile robot in pipe for piping operations. In: IEEE/RSJ international conference of intelligent robots and systems (IROS) 3:2366–2 171Google Scholar
  5. 5.
    Roman HT, Pelligrino BA, Sigrist W (1993) Pipe crawling inspection robots: an overview. IEEE Trans Energy Convers, 576–583Google Scholar
  6. 6.
    Kwon Y-S, Lee B, Whang, I-C, Yi B-J (2010) A pipeline inspection robot with a linkage type mechanical clutch. In: The 2010 IEEE/RSJ international conference on intelligent robots and systems, October 18–22, Taipei, TaiwanGoogle Scholar
  7. 7.
    Fukuda T, Hosokai H, Uemura M (1989) Rubber gas actuator driven by hydrogen storage alloy for in-pipe inspection mobile robot with flexible structure. In: IEEE International conference on robotics and automation (ICRA), vol 3, pp 1847–1852Google Scholar
  8. 8.
    Hayashi I, Iwatsuki N, Iwashima S (1995) The running characteristics of a screw principle microrobot in a small bent pipe. In: Proceedings of international symposium on micro machine and human science, pp 225–228Google Scholar
  9. 9.
    Iwashima S, Hayashi I, Iwatsuki N, Nakamura K (1994) Development of in-pipe operation micro robots. In: Proceedings of international symposium on micro machine and human science, pp 41–45Google Scholar
  10. 10.
    Leow YP, Angeles J, Low KH (2000) A comparative mobility study of three-wheeled mobile robots. In: Proceedings of 6th international conferenceon control, automation, robotics and vision, SingaporeGoogle Scholar
  11. 11.
    Wada M, Takagi A, Mori S (2000) Caster drive mechanisms for holonomic and omni-directional mobile platforms with no over constraint. In: Proceedings IEEE international conference on robotics and automation, San Francisco, CA, pp 1531–1538Google Scholar
  12. 12.
    Killough SM, Pin FG (1992) Design of an omni-directional and holonomic wheeled platform prototype. In: Proceedings IEEE international conference on robotics and automation, nice, pp 84–90Google Scholar
  13. 13.
    Ferrière L, Raucent B (1998) Rollmobs, a new universal wheel concept. In: Proceedings international conference on field and service robotics, Leuven, pp 1877–1882. Carlisle B (2000) Robot mechanisms. In: Proceedings IEEE international conference on robotics and automation, San Francisco, CA, pp 701–708Google Scholar
  14. 14.
    Dudek G, Jenkin M (2000) Computational principles of mobile robotics. Cambridge University Press, New York, NY. McKerrow PJ (1991) Introduction to robotics. Addison-Wesley, SingaporeGoogle Scholar
  15. 15.
    Meystel A (1991) Autonomous Mobile Robots—Vehicles with Cognitive Control. World Scientific, SingaporeCrossRefGoogle Scholar
  16. 16.
    Campion G, Bastin G, D’Andréa-Novel B (1996) Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE Trans Robot Automat 12:47–62CrossRefGoogle Scholar
  17. 17.
    Ostrovskaya S (2001) Dyanamics of quasiholonomic and nonholonomic reconfigurable rolling robots. PhD Thesis, McGill University, MontrealGoogle Scholar
  18. 18.
    Angeles J (2002) The robust design of parallel manipulators. In: Proceedings 1st international controlled robotic systems for handling and assembly, Braunschweig, pp 9–30Google Scholar
  19. 19.
    Jones JL, Flynn AM (1993) Mobile robots: inspiration to implementation. Peters, Wellesley, MAzbMATHGoogle Scholar
  20. 20.
    Qingyou Liu, Tao Ren, Chen Yonghua (2013) Charateristic analysis of a novel in-pipe driving robot. Elsevier Mechatron 23:419–428CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.ISET SousseSousseTunisia
  2. 2.ISSAT Sousse. LMSSousseTunisia
  3. 3.ENISO. LMSSousseTunisia

Personalised recommendations