Abstract
Piping inspection robots are of great importance in industries such as nuclear, sewage and chemical where the internal diameters of the pipeline are significantly smaller. Mechanisms having closed loops can be used in such areas as they generate contact forces and deployable structures. With the help of a bio-inspired mechanism, a piping inspection robot is presented which mimics the motion of a caterpillar. The robot is composed of three modules: a central module for elongation and two other modules on the front and rear for clamping. A slot-slider mechanism is chosen for the legs of the robot. Using industrial components such as DC motors, servo-controllers, ball screws and fasteners, the entire robotic system was realized in CATIA software and a prototype was made at the Laboratoire des Sciences du Numérique de Nantes (LS2N). In this article, we present the forces induced on the motors under locomotion using a dynamic analysis. With the help of the recursive Newton-Euler algorithm, the torques generated on the motor under locomotion have been identified which ensures the stability of the system while moving inside pipes.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
Notes
- 1.
We would like to thank Renaud Henry, Daniel Kanaan and Mathieu Porez for their participation in the study of this robot.
References
Kassim, I., Phee, L., Ng, W.S., Gong, F., Dario, P., Mosse, C.A.: Locomotion techniques for robotic colonoscopy. Eng. Med. Biol. Mag. 25(3), 49–56 (2006)
Henry, R., Chablat, D., Porez, M., Boyer, F., Kanaan, D.: MultiObjective design optimization of the leg mechanism for a piping inspection robot. In: Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Buffalo, United States (2014)
Anthierens, C., Ciftci, A., Betemps, M.: Design of an electro pneumatic micro robot for in-pipe inspection. In: International Symposium on Industrial Electronics, Bled, pp. 968–972 (1999)
Anthierens, C., Libersa, C., Touaibia, M., Betemps, M., Arsicault, M., Chaillet, N.: Micro robots dedicated to small diameter canalization exploration. In: International Conference on Intelligent Robots and Systems, Takamatsu, pp. 480-485 (2000)
Ur-Rehman, R., Caro, S., Chablat, D., Wenger, P.: Multiobjective path placement optimization of parallel kinematics machines based on energy consumption, shaking forces and maximum actuators torques: application to the orthoglide. Mech. Mach. Theory 45(8), 1125–1141 (2010)
Maxon motor’s, Program 2017/18. High precision Drives and Systems. Information, pp. 363–427 (2017). http://epaper.maxonmotor.com/#1
Khalil, W.: Dynamic modeling of robots using recursive Newton-Euler techniques. In: 7th International Conference on Informatics in Control, Automation and Robotics, Portugal (2010)
Khalil, W., Kleinfinger, J.F.: A new geometric notation for open and closed-loop robots. In: Proceedings of IEEE International Conference on Robotics and Automation, San Francisco, pp. 1174–1180 (1986)
Boyer, F., Ali, S.: Recursive inverse dynamics of mobile multibody systems with joints and wheels. IEEE Trans. Robot. 27(2), 215–228 (2011)
Khalil, W., Dombre, E.: Modeling, Identification and Control of Robots. Hermes Penton Ltd. (2002)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
Chablat, D., Venkateswaran, S., Boyer, F. (2019). Dynamic Model of a Bio-Inspired Robot for Piping Inspection. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_7
Download citation
DOI: https://doi.org/10.1007/978-3-319-78963-7_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-78962-0
Online ISBN: 978-3-319-78963-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)