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Inchworm Locomotion of an External Pipe Inspection and Monitoring Robot

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Innovation, Engineering and Entrepreneurship (HELIX 2018)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 505))

Abstract

The paper presents the external pipe locomotion of a robot for inspection and monitoring of the pipelines for use in oil and gas industry. During regular motion, the robot resembles to a crank-slider mechanism with equal lengths of the crank and rod, while for stepping over flanges it becomes an open chain with double actuated leverage. A bond graph model and simulation results by use of 20-sim environment are also presented.

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References

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Author information

Authors and Affiliations

  1. Department of Mechatronics and Precision Mechanics, University “POLITEHNICA” of Bucharest, Bucharest, Romania

    Constantin Nițu, Bogdan Grămescu, Ahmed Sachit Hashim & Mihai Avram

Authors
  1. Constantin Nițu
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  2. Bogdan Grămescu
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  3. Ahmed Sachit Hashim
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  4. Mihai Avram
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Corresponding author

Correspondence to Bogdan Grămescu .

Editor information

Editors and Affiliations

  1. School of Engineering, University of Minho, Guimarães, Portugal

    José Machado

  2. School of Engineering, University of Minho, Guimarães, Portugal

    Filomena Soares

  3. Faculty of Engineering, University of Porto, Porto, Portugal

    Germano Veiga

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Nițu, C., Grămescu, B., Hashim, A.S., Avram, M. (2019). Inchworm Locomotion of an External Pipe Inspection and Monitoring Robot. In: Machado, J., Soares, F., Veiga, G. (eds) Innovation, Engineering and Entrepreneurship. HELIX 2018. Lecture Notes in Electrical Engineering, vol 505. Springer, Cham. https://doi.org/10.1007/978-3-319-91334-6_63

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