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Dynamic Modeling of an Out-Pipe Inspection Robot and Experimental Validation of the Proposed Model using Image Processing Technique

2016

Article


Gas and liquid pipelines surround us. To ensure reliable product delivery and to maintain pipeline integrity, asset managers should consider routine pipeline inspection and holistic management programs to extend pipeline life and prevent risk. Therefore, pipe inspection robots are of special interest to industries. In this paper, we present a new and simple locomotion strategy for an out-pipe inspection robot which can provide adjustable tractive force and can also be utilized to support active diameter adaptability. The advantages proposed by this design include simplicity, low manufacturing costs, online inspection capability and short operational time. Here a dynamic model of the robot is presented with the required assumptions. The mathematical model of 2-DOF robot is obtained using the well-known Lagrange equation. Modeling and simulations were conducted to test the validity and practicality of the proposed design and strategies. The prototype has successfully traveled along a pipe of 20 cm diameter. The results obtained from our dynamic model are then validated by experimental data.

Author(s): Alborz Aghamaleki Sarvestani and Mohammad Eghtesad and Farimah Fazlollahi and Alireza Goshtasbi and Kasra Mokhtari
Journal: Iranian Journal of Science and Technology, Transactions of Mechanical Engineering
Volume: 40
Pages: 77–85
Year: 2016
Month: March
Publisher: Springer International Publishing

Bibtex Type: Article (article)
Paper Type: Journal

DOI: https://doi.org/10.1007/s40997-016-0012-x
URL: https://link.springer.com/article/10.1007/s40997-016-0012-x

BibTex

@article{Alborz2016MSe,
  title = {Dynamic Modeling of an Out-Pipe Inspection Robot and Experimental Validation of the Proposed Model using Image Processing Technique},
  author = {Sarvestani, Alborz Aghamaleki and Eghtesad, Mohammad and Fazlollahi, Farimah and Goshtasbi, Alireza and Mokhtari, Kasra},
  journal = {Iranian Journal of Science and Technology, Transactions of Mechanical Engineering},
  volume = {40},
  pages = { 77–85},
  publisher = {Springer International Publishing},
  month = mar,
  year = {2016},
  url = {https://link.springer.com/article/10.1007/s40997-016-0012-x},
  month_numeric = {3}
}