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A Compact and Compliant External Pipe Crawling Robot
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A Compact and Compliant External Pipe-Crawling Robot

Category : Robotics


Sub Category : Mobile Robot


Project Code : ITROB17


Project Abstract

Abstract:

         

The focus of this paper is on the practical aspects of design, prototyping, and testing of a compact, compliant external pipe-crawling robot that can inspect a closely spaced bundle of pipes in hazardous environments and areas that are inaccessible to humans. The robot consists of two radially deployable compliant ring actuators that are attached to each other along the longitudinal axis of the pipe by a bidirectional linear actuator. The robot imitates the motion of an inchworm. The novel aspect of the compliant ring actuator is a spring-steel compliant mechanism that converts circumferential motion to radial motion of its multiple gripping pads. Circumferential motion to ring actuators is provided by two shape memory alloy (SMA) wires that are guided by insulating rollers. The design of the compliant mechanism is derived from a radially deployable mechanism. A unique feature of the design is that the compliant mechanism provides the necessary kinematic function within the limited annular space around the pipe and serves as the bias spring for the SMA wires.

 

Existing System

Proposed System

 

 

Ø  Only wired control of pipe crawling robot

Ø  manual monitoring is needed

 

 

Drawbacks of existing system:

Ø  can’t used for very long distance

Ø  more time consumed

Ø  trouble to use wired pipe crawling robot

 

Ø  In the advanced technology, wireless control of pipe crawling robot.

Ø  It is used to detect the cracks and defects in pipe

Ø  Wireless monitoring using zigbee.

Advantages of proposed system:

Ø  utilized for long distance verification

Ø  less time consumed

Ø  trouble free to use

Ø  high accuracy

 
 
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