Application of robotics in offshore oil and gas industry- A review Part II

This paper deals with a design and motion planning algorithm of a caterpillar-based pipeline robot that can be used for inspection of 80-100-mm pipelines in an indoor pipeline environment. The robot system uses a differential drive to steer the robot and spring loaded four-bar mechanisms to assure that the robot expands to grip the pipe walls. Unique features of this robot are the caterpillar wheels, the analysis of the four-bar mechanism supporting the treads, a closed-form kinematic approach, and an intuitive user interface. In addition, a new motion planning approach is proposed, which uses springs to interconnect two robot modules and allows the modules to cooperatively navigate through difficult segments of the pipes. Furthermore, an analysis method of selecting optimal compliance to assure functionality and cooperation is suggested. Simulation and experimental results are used throughout the paper to highlight algorithms and approaches.

Design and Motion Planning of a Two-Module Collaborative Indoor Pipeline Inspection Robot

In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress.

https://iopscience.iop.org/article/10.1088/1748-3182/8/3/035003/pdf

Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots

In the past five years, researchers have improvised the existing in-pipe inspection robots by developing hybrid locomotion by combining two or more propulsion mechanism in achieving robust but yet flexible robot platform. In this paper, several hybrid robots have been reviewed and categorized according to their implemented locomotion system. The hybrid locomotion systems are caterpillar wall-pressed type, wheeled wall-pressed type and wheeled wall-pressing screw type. Each hybrid locomotion system is developed according to distinct design requirements for specific environment and might be not suitable for other application. The aim of this review is to highlight the current innovation of in-pipe robot for inspection. Based on the study, wall pressed type is the most popular main locomotion system in in-pipe robot development. Most of the prototypes are able to travel into branches with the same diameter as the pipe. Integration of caterpillar wheel gives more advantage in preventing motion singularity problem while surpassing branches. On the other hand, wheeled wall-pressed type provides advantage in high speed mobility. Wheeled wall pressing screw type gives the best navigation in curved pipe. None of these inventions show their ability in navigating bigger pipe to smaller branches.

/pdf/a-review-hybrid-locomotion-of-in-pipe-inspection-robot-zics6yya6l.pdf

A Review: Hybrid Locomotion of In-pipe Inspection Robot

To move freely, in-pipe robots must be able to adapt to the various geometric changes of pipes Previously, we described an in-pipe robot that can adapt to changes in diameter and curvature of center curves This robot is able to estimate the forces exerted on the inner surface of the pipes and balance its posture inside the pipe using angular sensors attached to its rotational joints In this paper, a method is proposed to estimate the relative attitude between the robot's main body and the pipe using the angular sensors attached to a pantograph mechanism The use of angular sensors makes the structure of the robot simpler and more effective than the use of force or vision sensors because the normal forces and attitude can be estimated from measured angle information This geometric estimation of attitude relative to the pipes enables the robot to recognize the inclination of the pipes The PAROYS-II robot can control its normal force according to the variation in pipe inclination Thus, the proposed method could reduce power consumption and stress on the robot's parts The algorithm has been validated by multiple experiments

Normal-Force Control for an In-Pipe Robot According to the Inclination of Pipelines

Variable stiffness mechanism for human-friendly robots

Novel mechanisms and simple locomotion strategies for an in-pipe robot that can inspect various pipe types

This paper proposes an in-pipe robot adaptable to pipe diameter change. The robot can adapt to 400 to 700 mm diameter piping. A pantograph mechanism provides the adaptability and the robot drives using tracks. One track module consists of front and rear tracks connected by an active joint with structural compliance. Its passive foldable characteristics provide information of the frontal space and help keeping contact with the surface on which it travels. This paper also suggests two control algorithms. One is a method to keeping proper normal force without pressure sensors. The other is a posture control to move in curved pipe by pantograph angle detection. These algorithms are verified by experiment.

Development of an actively adaptable in-pipe robot

In this paper, we propose a steerable inchworm type in-pipe inspection robot. An extensor mechanism using continuum links makes the robot possible for both steering and inchworm locomotion. The robot has two clamper modules which are composed of a crank-slider mechanism. The mechanism makes the robot compact and adaptable to pipe diameter change from 205mm to 305mm. We also analyzed steering locomotion of the robot and propose a simple strategy for navigating in a T-branch pipe. The mechanisms and strategy are demonstrated by experiment.

Jungwan Park

Papers

Normal-Force Control for an In-Pipe Robot According to the Inclination of Pipelines

Variable stiffness mechanism for human-friendly robots

Novel mechanisms and simple locomotion strategies for an in-pipe robot that can inspect various pipe types

Development of an actively adaptable in-pipe robot

Development of high mobility in-pipe inspection robot