on the in-pipe inspection robots traversing through elbows

نویسندگان

saeed jerban

département de génie mécanique, université de sherbrooke, sherbrooke, qc canada j1k 2r1 majid m. moghaddam

department of mechanical engineering, faculty of engineering, tarbiat modares university, tehran, iran

چکیده

a general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. the robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. the curvatures in pipeline are the most important constraints in front of the robot through navigation process. to study the adaptability of in-pipe robots to the elbow, geometrical analysis was used to determine the minimum required diameter of an assumed resizable cylinder when it traverses through elbows. the contact points of the cylinder and the elbow are located at the medial longitudinal cross section of the elbow. however, for any designed configuration of the robots, the contact points are located at other longitudinal cross sections. for any elbow joint, a 3d space, so-called “curved pipe limited area” was defined using the minimum required width along all longitudinal cross sections in elbows. the traversing robot should be adaptable to this limited area which is a function of robot’s length, pipes’ diameter and radius of curvature. a set of computer simulation was used to verify the derived analytical equations. the verified equations in this paper enable designers to confirm the dimensions of the robots for guaranteed traversing through standard elbows in pipeline. in addition to optimizing the robot’s dimensions in designing process, the proposed equations can be used for active controlling of robot’s diameter when it traverses through elbows.

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

On The In-pipe Inspection Robots Traversing Through Elbows

A general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. The robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. The curvatures in pipeline are the most important constraints in front of the robot through navigation process. To study the adapt...

متن کامل

Investigations of Design Issues Related To In-Pipe Inspection Robots

Basically robots are designed in such way that they remove human intervention from labour intensive and hazardous work environment; sometimes they are also used to explore inaccessible work places which are generally impossible to access by humans. The inspection of pipe comes in same category because they carry toxic chemicals, fluids and most of the time has small internal diameter or bends w...

متن کامل

Automated Sewer Pipe Inspection through Image Processing

An innovative inspection method to assess the condition of sewer pipes is proposed in this paper. The standard sewer inspection technique, based on closed-circuit television systems, has a very poor performance. A video camera is mounted on a robot and the video recording is provided off-line to an engineer that classifies the potential defects. The focus of the research is the automated identi...

متن کامل

In-Pipe Inspection Crawler Adaptable to the Pipe interior Diameter

One of the most important requirements of repairing and maintaining of pipelines is the ability to monitor and evaluate the pipe’s interior. In this paper, a novel apparatus to traverse pipes is introduced. The mechanism employs three independent rubber track units which are circumferentially spaced out 120 degree apart symmetrically. The apparatus employs an active mode to adapt to a wide rang...

متن کامل

Pipe inspection robot pdf

Diameter pipe.robot, called the Multifunctional Robot for IN-pipe inSPECTion. In-pipe robots, which have a long history of development in robotics, can be.This paper describes a mobile feeder pipe inspection robot that can minimize the irradiation dose to human workers by automating the measurement process.Recently, many pipe inspection robot systems have been developed. Initially, development ...

متن کامل

Visual and nondestructive evaluation inspection of live gas mains using the ExplorerTM family of pipe robots

Visual inspection and nondestructive evaluation (NDE) of natural gas distribution mains is an important future maintenance cost-planning step for the nation’s gas utilities. These data need to be gathered at an affordable cost with the fewest excavations and maximum linear feet inspected for each deployment, with minimal to no disruption in service. Current methods (sniffing, direct assessment)...

متن کامل

منابع من

با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید


عنوان ژورنال:
international journal of robotics

جلد ۴، شماره ۲، صفحات ۱۹-۲۷

میزبانی شده توسط پلتفرم ابری doprax.com

copyright © 2015-2023