Wheel drive articulated robot moving on the incline half pipe

Lau, Kar Hei (2021) Wheel drive articulated robot moving on the incline half pipe. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Pipelines are essential instruments since they are used for various purposes, such as transportation of oil, water, or gaseous substances in many industries. The pipelines are aging and corrosive, which can lead to accidents if these concerns are overlooked. Pipeline inspection robots are designed to inspect and eliminate hazards inside the pipelines where human inspection is difficult. This project proposes a new pipeline inspection robot design that can examine the inclined pipelines. The proposed approach is to build a semi-autonomous articulated pipeline inspection robot with adaptive legs. The pipeline’s inner surface is fitted with two independent wheel drive units symmetrically mounted with a robot chassis. Besides, the adaptive legs are self-adjustable according to the inclination of the pipeline. The articulated pipeline inspection robot is designed for maneuvering in a straight half-pipe with a diameter of 152 mm with various incline positions. For better wheel traction of the robot, the mathematical model of the articulated pipeline inspection robot is configured. The pipeline inspection robot can transmit information such as the pipeline’s inclination angle and communicate via the Bluetooth module. Data such as the angle of inclination and acceleration of the in-pipe inspection robot are collected and analyzed to determine the articulated pipeline inspection robot’s performance at various pipeline inclination. Finally, some of the conclusions are essential for optimal design and motion control of the robot’s legs to get better traction to prevent slippage.

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