Design of a Modular Pipeline Robot Structure and Passing Ability Analysis
To date, scholars have only conducted theoretical research on pipeline robots with cylindrical shapes over bends. However, not all pipeline robots are cylindrical in shape. This paper presents a theoretical investigation of a rectangular pipeline robot’s bending-passing ability using geom...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10242599/ |
| _version_ | 1797685392005136384 |
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| author | Qing Li Wenya Zhao |
| author_facet | Qing Li Wenya Zhao |
| author_sort | Qing Li |
| collection | DOAJ |
| description | To date, scholars have only conducted theoretical research on pipeline robots with cylindrical shapes over bends. However, not all pipeline robots are cylindrical in shape. This paper presents a theoretical investigation of a rectangular pipeline robot’s bending-passing ability using geometric and vector approaches and addresses dimensional limitations. Considering the shortcomings of most existing pipeline robots, such as the limited range of pipe diameters that are allowed, the inability to climb vertical pipes, and the single purpose, this study suggests a multi-functional modular pipeline robot that can support a wide range of pipe diameters. The drive module was constructed as a rectangular structure, which confirmed the accuracy of the bend-through theory. The driving module, as the central component of the pipeline robot, can accommodate pipe diameters ranging from 250 to 450mm. It was demonstrated that it can generate a traction force of approximately 600N, which can be used to drive other working modules. |
| first_indexed | 2024-03-12T00:44:30Z |
| format | Article |
| id | doaj.art-c39011a217944c69a7097464483ac324 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-12T00:44:30Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-c39011a217944c69a7097464483ac3242023-09-14T23:00:43ZengIEEEIEEE Access2169-35362023-01-0111979789798910.1109/ACCESS.2023.331217110242599Design of a Modular Pipeline Robot Structure and Passing Ability AnalysisQing Li0https://orcid.org/0009-0006-3174-4477Wenya Zhao1https://orcid.org/0000-0001-8256-0287School of Mechanical Engineering, Tianjin University, Tianjin, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin, ChinaTo date, scholars have only conducted theoretical research on pipeline robots with cylindrical shapes over bends. However, not all pipeline robots are cylindrical in shape. This paper presents a theoretical investigation of a rectangular pipeline robot’s bending-passing ability using geometric and vector approaches and addresses dimensional limitations. Considering the shortcomings of most existing pipeline robots, such as the limited range of pipe diameters that are allowed, the inability to climb vertical pipes, and the single purpose, this study suggests a multi-functional modular pipeline robot that can support a wide range of pipe diameters. The drive module was constructed as a rectangular structure, which confirmed the accuracy of the bend-through theory. The driving module, as the central component of the pipeline robot, can accommodate pipe diameters ranging from 250 to 450mm. It was demonstrated that it can generate a traction force of approximately 600N, which can be used to drive other working modules.https://ieeexplore.ieee.org/document/10242599/Climbing robotsmotion analysissnake robotssystems simulation |
| spellingShingle | Qing Li Wenya Zhao Design of a Modular Pipeline Robot Structure and Passing Ability Analysis IEEE Access Climbing robots motion analysis snake robots systems simulation |
| title | Design of a Modular Pipeline Robot Structure and Passing Ability Analysis |
| title_full | Design of a Modular Pipeline Robot Structure and Passing Ability Analysis |
| title_fullStr | Design of a Modular Pipeline Robot Structure and Passing Ability Analysis |
| title_full_unstemmed | Design of a Modular Pipeline Robot Structure and Passing Ability Analysis |
| title_short | Design of a Modular Pipeline Robot Structure and Passing Ability Analysis |
| title_sort | design of a modular pipeline robot structure and passing ability analysis |
| topic | Climbing robots motion analysis snake robots systems simulation |
| url | https://ieeexplore.ieee.org/document/10242599/ |
| work_keys_str_mv | AT qingli designofamodularpipelinerobotstructureandpassingabilityanalysis AT wenyazhao designofamodularpipelinerobotstructureandpassingabilityanalysis |