TY - JOUR
T1 - Mobile robot with wheeled-legs for inspection of pipes with variable diameter and elbow shapes
AU - Castillo-Castañeda, Eduardo
AU - Córdoba-Malaver, Ana Rocío
N1 - Publisher Copyright:
© 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2021
Y1 - 2021
N2 - Currently, many equipment manufacturers for internal pipe inspection propose robotic systems since they move safe and efficiently, adapting to the size and shape characteristics of the commercial pipes used in urban and industrial infrastructure. This work presents the development of a mobile robot with wheeled-legs capable of adapting to variable diameter pipes and elbow shapes connectors. The robot has four wheeled-legs, the wheels of two of them are actuated by servomotors. The synchronized movement of the active wheels allows the robot to move in any direction. The robot has a camera that records a video as it travels in the pipe. The wheeled-legs can extend or retract independently by means of a torsion spring; then the robot adapts to pipe dimensions with enough force to move vertically. A prototype of the robot was built and its operation was tested in a pipe model consisting of: straight pipe sections, variable diameter Sections (6 and 8 in.), and also elbow type connections at 90 and 45°.
AB - Currently, many equipment manufacturers for internal pipe inspection propose robotic systems since they move safe and efficiently, adapting to the size and shape characteristics of the commercial pipes used in urban and industrial infrastructure. This work presents the development of a mobile robot with wheeled-legs capable of adapting to variable diameter pipes and elbow shapes connectors. The robot has four wheeled-legs, the wheels of two of them are actuated by servomotors. The synchronized movement of the active wheels allows the robot to move in any direction. The robot has a camera that records a video as it travels in the pipe. The wheeled-legs can extend or retract independently by means of a torsion spring; then the robot adapts to pipe dimensions with enough force to move vertically. A prototype of the robot was built and its operation was tested in a pipe model consisting of: straight pipe sections, variable diameter Sections (6 and 8 in.), and also elbow type connections at 90 and 45°.
KW - Pipe inspection
KW - Robot design
KW - Service robots
KW - Wheeled-leg robots
UR - http://www.scopus.com/inward/record.url?scp=85095963298&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-58104-6_37
DO - 10.1007/978-3-030-58104-6_37
M3 - Artículo
AN - SCOPUS:85095963298
SN - 2211-0984
VL - 93
SP - 325
EP - 331
JO - Mechanisms and Machine Science
JF - Mechanisms and Machine Science
ER -