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Experimental Performance of Robotic Inspection System for Underground Pipelines
https://orcid.org/http://orcid.org/0000-0002-8106-1256
The growth of pipeline inspection robots has been increasing in power plants, oil, gas, and sewage system industries, etc. To cater to this need, the main focus of this paper is to design and develop a pipeline inspection robot (PIR) for underground pipelines. In this paper, a novel design concept of PIR is proposed which uses a scissor mechanism consisting of two cross-links and a lead screw for self-adjusting and controlling of the robot during motion. The motion of the scissor mechanism is controlled by a DC motor. The mathematical model for understanding the kinematics and dynamics of the scissor mechanism has been developed. Further, kinematic and dynamic simulation has been carried out with help of ADAMS software. The experimental results have proved that the scissor mechanism can be useful for self-adjusting the operation of the robot during intervention with variable cross-sectional diameters of pipelines. A prototype of PIR is developed for testing the mechanism. Experiments have been conducted for the inspection of pipelines. An image processing technique is applied for finding the cracks inside the steel pipelines. Therefore, we can say, based on the results obtained, that the developed robot can solve the problems of inspection of the underground pipelines. This robot can also reduce human participation in labor-intensive/ dangerous work. It can also work in inaccessible areas during the repair and maintenance of the underground pipelines in various industries.
Experimental Performance of Robotic Inspection System for Underground Pipelines
https://orcid.org/http://orcid.org/0000-0002-8106-1256
The growth of pipeline inspection robots has been increasing in power plants, oil, gas, and sewage system industries, etc. To cater to this need, the main focus of this paper is to design and develop a pipeline inspection robot (PIR) for underground pipelines. In this paper, a novel design concept of PIR is proposed which uses a scissor mechanism consisting of two cross-links and a lead screw for self-adjusting and controlling of the robot during motion. The motion of the scissor mechanism is controlled by a DC motor. The mathematical model for understanding the kinematics and dynamics of the scissor mechanism has been developed. Further, kinematic and dynamic simulation has been carried out with help of ADAMS software. The experimental results have proved that the scissor mechanism can be useful for self-adjusting the operation of the robot during intervention with variable cross-sectional diameters of pipelines. A prototype of PIR is developed for testing the mechanism. Experiments have been conducted for the inspection of pipelines. An image processing technique is applied for finding the cracks inside the steel pipelines. Therefore, we can say, based on the results obtained, that the developed robot can solve the problems of inspection of the underground pipelines. This robot can also reduce human participation in labor-intensive/ dangerous work. It can also work in inaccessible areas during the repair and maintenance of the underground pipelines in various industries.
Experimental Performance of Robotic Inspection System for Underground Pipelines
https://orcid.org/http://orcid.org/0000-0002-8106-1256
The growth of pipeline inspection robots has been increasing in power plants, oil, gas, and sewage system industries, etc. To cater to this need, the main focus of this paper is to design and develop a pipeline inspection robot (PIR) for underground pipelines. In this paper, a novel design concept of PIR is proposed which uses a scissor mechanism consisting of two cross-links and a lead screw for self-adjusting and controlling of the robot during motion. The motion of the scissor mechanism is controlled by a DC motor. The mathematical model for understanding the kinematics and dynamics of the scissor mechanism has been developed. Further, kinematic and dynamic simulation has been carried out with help of ADAMS software. The experimental results have proved that the scissor mechanism can be useful for self-adjusting the operation of the robot during intervention with variable cross-sectional diameters of pipelines. A prototype of PIR is developed for testing the mechanism. Experiments have been conducted for the inspection of pipelines. An image processing technique is applied for finding the cracks inside the steel pipelines. Therefore, we can say, based on the results obtained, that the developed robot can solve the problems of inspection of the underground pipelines. This robot can also reduce human participation in labor-intensive/ dangerous work. It can also work in inaccessible areas during the repair and maintenance of the underground pipelines in various industries.
Experimental Performance of Robotic Inspection System for Underground Pipelines
J. Inst. Eng. India Ser. C
Jain, R. K. (author) / Das, Abhijit (author) / Mukherjee, Arpita (author) / Ray, D. N. (author) / Karmakar, Pratap (author)
Journal of The Institution of Engineers (India): Series C ; 102 ; 683-703
2021-06-01
21 pages
Article (Journal)
Electronic Resource
English
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