Abstract
In this paper, a novel design of a tree-type repair and inspection robot is presented. The modeling of the robot was done using SolidWorks software and is also presented in the paper. The robot is capable of maneuvering in horizontal pipes, vertical pipes, and flat surfaces. Taking into account the variation in types of surfaces involved when the robot moves in pipes, a special type of grip mechanism with suction cups has been proposed for better adhesion. While varying pipe orientations, the robot can be maneuvered in the pipe by simply changing the orientation of the first link (connected to the platform). Mathematical calculations have been performed to estimate the weight of the platform and links. Finite element analysis (FEA) of links and platforms is performed for validation and optimization purposes. From the simulation runs, it has been observed that the design is structurally safe and within the yield limits of the selected material. Future work involves the testing of algorithms for end-effector path following, control, and trajectory planning, among others.
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Kumar, S., Reddy, B.S. (2023). Design of a Novel Tree-Type Robot for Pipeline Repair. In: Sharma, S., Subudhi, B., Sahu, U.K. (eds) Intelligent Control, Robotics, and Industrial Automation. RCAAI 2022. Lecture Notes in Electrical Engineering, vol 1066. Springer, Singapore. https://doi.org/10.1007/978-981-99-4634-1_10
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DOI: https://doi.org/10.1007/978-981-99-4634-1_10
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