Advertisement

Track Drives Adjustment Simulation for a Versatile Pipe Inspection Robot

  • Michał CiszewskiEmail author
  • Tomasz Buratowski
  • Mariusz Giergiel
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

Increasing demand for versatile devices intended for pipe inspection induces fast development of advanced mechanisms and multi-purpose structures of robot drive units. The paper shows modeling of a track adaptation mechanism designed for a pipe inspection robot that provides motion in horizontal and vertical pipes of circular and rectangular cross-section. The mechanism is based on an original pedipulator structure that adjust poses of two track drive modules. In the paper, adaptation of the drive unit to changing pipe diameters is analyzed and illustrated. Validation of the model is shown during tests of a prototype.

Keywords

Modeling Pipe inspection Track drive Robotic inspection Adaptive inspection robot 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Inuktun Services Ltd: Versatrax Vertical Crawler, http://www.inuktun.com/crawler-vehicles/versatrax-vertical-crawler.html
  2. 2.
    NEOVISION s.r.o.: Jetty, Cleaning and inspectional robot for air-induction ducting, http://www.neovision.cz/sols/jetty.html.
  3. 3.
    Lee, D., Park, J., Hyun, D., Yook, G., Yang, H.: Novel mechanisms and simple locomotion strategies for an in-pipe robot that can inspect various pipe types. Mech. Mach. Theory. 56, 52–68 (2012).Google Scholar
  4. 4.
    Giergiel, J., Giergiel, M., Buratowski, T., Ciszewski, M.: Mechanizm pedipulatora do ustawiania pozycji modułu napędowego, zwłaszcza robota mobilnego, (2015).Google Scholar
  5. 5.
    Ciszewski, M., Buratowski, T., Giergiel, M., Malka, P., Kurc, K.: Virtual Prototyping, Design and Analysis of an in-Pipe Inspection Mobile Robot. J. Theor. Appl. Mech. 52, 417–429 (2014).Google Scholar
  6. 6.
    Ciszewski, M., Waclawski, M., Buratowski, T., Giergiel, M., Kurc, K.: Design, Modelling and Laboratory Testing of a Pipe Inspection Robot. Arch. Mech. Eng. 62, 395–408 (2015).Google Scholar
  7. 7.
    Corke, P.: Robotics, Vision and Control: Fundamental Algorithms in MATLAB. Springer Science & Business Media (2011).Google Scholar
  8. 8.
    Siciliano, B., Khatib, O.: Springer Handbook of Robotics. Springer-Verlag, Berlin (2008).Google Scholar
  9. 9.
    Spong, M.W., Hutchinson, S., M., V.: Robot Modeling and Control. Control. 141, 419 (2006).Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.AGH University of Science and TechnologyKrakówPoland

Personalised recommendations