Journal Article10.1109/TIE.2010.2095392
Normal-Force Control for an In-Pipe Robot According to the Inclination of Pipelines
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TL;DR: A method is proposed to estimate the relative attitude between the robot's main body and the pipe using the angular sensors attached to a pantograph mechanism so that the robot can control its normal force according to the variation in pipe inclination.
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Abstract: To move freely, in-pipe robots must be able to adapt to the various geometric changes of pipes Previously, we described an in-pipe robot that can adapt to changes in diameter and curvature of center curves This robot is able to estimate the forces exerted on the inner surface of the pipes and balance its posture inside the pipe using angular sensors attached to its rotational joints In this paper, a method is proposed to estimate the relative attitude between the robot's main body and the pipe using the angular sensors attached to a pantograph mechanism The use of angular sensors makes the structure of the robot simpler and more effective than the use of force or vision sensors because the normal forces and attitude can be estimated from measured angle information This geometric estimation of attitude relative to the pipes enables the robot to recognize the inclination of the pipes The PAROYS-II robot can control its normal force according to the variation in pipe inclination Thus, the proposed method could reduce power consumption and stress on the robot's parts The algorithm has been validated by multiple experiments
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Citations
Design and Analysis of Independently Adjustable Large In-Pipe Robot for Long-Distance Pipeline
TL;DR: A novel robot mechanism for long-distance pipeline inspection that consists of three crawlers and electric putters, which can adjust their speed and radius independently, and can operate stably in a large steel pipe is shown.
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Series of Multilinked Caterpillar Track-type Climbing Robots
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Advances in the Inspection of Unpiggable Pipelines
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Developing an adaptable pipe inspection robot using shape memory alloy actuators
TL;DR: The conceptual design for a miniature robot for inspecting the inner walls of pipes is presented, such that the proposed robot can operate adaptably and freely in vertical, inclined, and bent paths.
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References
Differential-drive in-pipe robot for moving inside urban gas pipelines
Se-gon Roh,Hyouk Ryeol Choi +1 more
TL;DR: This work presents a comprehensive work for moving inside underground urban gas pipelines with a miniature differential-drive in-pipe robot, called the Multifunctional Robot for IN-pipe inSPECTion (MRINSPECT) IV.
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Micro inspection robot for 1-in pipes
TL;DR: In this paper, a micro inspection robot for 1-in-pipes has been developed, which is equipped with a high-quality micro charge-coupled device (CCD) camera and a dual hand for manipulating small objects in pipes.
227
Design and Motion Planning of a Two-Module Collaborative Indoor Pipeline Inspection Robot
Young-Sik Kwon,Byung-Ju Yi +1 more
- 01 Jun 2012
TL;DR: A new motion planning approach is proposed, which uses springs to interconnect two robot modules and allows the modules to cooperatively navigate through difficult segments of the pipes.
173
In-pipe inspection robot with active pipe-diameter adaptability and automatic tractive force adjusting
TL;DR: In this paper, an in-pipe robot with active pipe-diameter adaptability and automatic tractive force adjusting is developed for long-distance inspection of main gas pipelines with different diameter series.
138
A snake-like robot for internal inspection of complex pipe structures (PIKo)
Sigurd Aksnes Fjerdingen,Pal Liljeback,Aksel Andreas Transeth +2 more
- 10 Oct 2009
TL;DR: This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically, interconnected by two degree of freedom active joints, which achieves horizontal and vertical motion through a train-like scheme.