SCRS Proceedings of International Conference of Undergraduate Students
In Pipe Maneuvering Robot
Authors: Kaustuk Hinglaspure, Ojas Maywade, Sumit Mishra and G. R. Nikhade
Publishing Date: 09-01-2023
ISBN: 978-81-95502-01-1
Abstract
Pipelines have become an essential tool to transport raw materials in Industries, Fuel transmission in households, etc. To ensure safe working, there is a need for proper inspection and maintenance of the Pipe. Human Involvement in Inspection and Maintenance of Pipe is Time-consuming and even risky. Therefore, the robot is one of the viable solutions for these tasks. This paper presents a novel design for an in-pipe maneuvering Robot, especially for countering T and L joints in a Pipe. The robot uses a screw drive mechanism and has passive support wheels at the rear. Three continuous tracks with Scott-Russell mechanism is used for providing Extra actuation when passing through joints. Every wheel has a spring attached to push against the wall of the Pipe, and this spring ensures robot adaptability in various diameter pipes. The robot is modelled using SolidWorks 2019. The bond graph method is used for dynamic simulation of the robot to examine the bot's motion while countering the bend, t, and l joint. Simulations have been Performed in the Adams Software to check various Characteristics of the robot inside the bend pipe.
Keywords
In-Pipe Maneuvering robot, Bond Graph, Dynamic Simulation, Screw Drive, Wall Pressed Robot.
Cite as
Kaustuk Hinglaspure, Ojas Maywade, Sumit Mishra and G. R. Nikhade, "In Pipe Maneuvering Robot ", In: Prashant Singh Rana, Deepak Bhatia and Himanshu Arora (eds), SCRS Proceedings of International Conference of Undergraduate Students, SCRS, India, 2023, pp. 1-12. https://doi.org/10.52458/978-81-95502-01-1-1