DESIGN OF A NEW MODULAR ACCESSORY FOR INCREASING TRACTION OF MOBILE INSPECTION ROBOTS IN PIPELINES

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HADI ALIREZA; ABDOLLAHI MORTEZA

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Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:1 Page(s): 333-344

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Information Journal Paper

Title

DESIGN OF A NEW MODULAR ACCESSORY FOR INCREASING TRACTION OF MOBILE INSPECTION ROBOTS IN PIPELINES

Author(s)

HADI ALIREZA | ABDOLLAHI MORTEZA | Issue Writer Certificate

Keywords

PIPE INSPECTION ROBOTQ1

MODULEQ1

MECHANISMQ1

TRACTIONQ1

Abstract

Wheeled mobile robots able to inspect pipe interior are typically used in industry. One of the major evaluations of these robots performance is mobility in limited spaces and special environments. Unanticipated area and obstacles along the robot path is one of the major challenges of robot success in missions. In this paper a novel MODULE for increasing the robot TRACTION when encountering small obstacles, paddle or large deposit is introduced. In addition, the MECHANISM increases the robot TRACTION when moving in high inclination pipes. The MECHANISM consists of two links mounted beside the four wheel drive robot. When the robot is faced with an obstacle or a paddle and cannot move further, although the robot wheels rotate, contacting the MODULE’s links to pipe surface changes the balance of normal forces applied between the pipe and wheels. Further, when the links are extended to contact the upper part of pipe, the wheels normal forces are increased, providing a higher TRACTION force consequently. Length of links may change in addition to its rotation. So, a two DOFs MECHANISM is provided in which one motor is used as actuator. For switching active DOF, a locking MECHANISM is utilized using shape memory alloys actuators. The analysis and simulations show the capability of MECHANISM in increasing the robot TRACTION. The MECHANISM performance is validated through ADAMS dynamic modeling software.

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APA: Copy

HADI, ALIREZA, & ABDOLLAHI, MORTEZA. (2016). DESIGN OF A NEW MODULAR ACCESSORY FOR INCREASING TRACTION OF MOBILE INSPECTION ROBOTS IN PIPELINES. MODARES MECHANICAL ENGINEERING, 16(1), 333-344. SID. https://sid.ir/paper/178435/en

Vancouver: Copy

HADI ALIREZA, ABDOLLAHI MORTEZA. DESIGN OF A NEW MODULAR ACCESSORY FOR INCREASING TRACTION OF MOBILE INSPECTION ROBOTS IN PIPELINES. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(1):333-344. Available from: https://sid.ir/paper/178435/en

IEEE: Copy

ALIREZA HADI, and MORTEZA ABDOLLAHI, “DESIGN OF A NEW MODULAR ACCESSORY FOR INCREASING TRACTION OF MOBILE INSPECTION ROBOTS IN PIPELINES,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 1, pp. 333–344, 2016, [Online]. Available: https://sid.ir/paper/178435/en

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