Design and Analysis of Independently Adjustable Large In-Pipe Robot for Long-Distance Pipeline
Source abstract
Abstract
Large oil and gas pipelines are prone to corrosion and leakage, so in-pipe inspection is necessary. In this article, we show a novel robot mechanism for long-distance pipeline inspection. The robot consists of three crawlers and electric putters, which can adjust their speed and radius independently. Independent adjustment and system self-checking of the robot are achieved through multiple sensors. To make the robot operate efficiently, we studied the influence of size parameters on the forces between the central body and crawler. Moreover, we investigated how to adjust the attitude of the robot through the differential speed of the three crawlers. Static and dynamic simulations of internal forces are presented. The primary experiments indicate that our robot can operate stably in a large steel pipe.
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Research context
OpenAlex topics: Non-Destructive Testing Techniques · Soft Robotics and Applications · Ultrasonics and Acoustic Wave Propagation
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechanical, Electrical and Information Engineering, Shandong University (Weihai), Weihai 264209, China
Department of Electromechanical Convergence Engineering, Korea University of Technology and Education, Chungcheongnam-do 31253, Korea
References (26)
Show source-provided references
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