Development of linkage mechansim for in-pipe robot
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Date
2018-06
Authors
Teoh, Chee Haw
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Abstract
Conventionally, the monitoring of pipeline for leakage detection is done by
workers and is not done within a day. This process instead is done continuously. As the
solution of this problem, in-pipe robot had been invented. This robot is proven to be a
better choice as it able to perform better than the workers.
The purpose of this project is to design and to fabrication an in-pipe robot which
have high mobility in pipe of various size. The design includes the mechanism of how
the robot moving (Locomotion), electrical (wiring), the shape or weight of the robot and
also the programming. Each of the aspects are essential as it will affect the performance
and the efficiency of the robot.
The final design of the in-pipe robot is a robot that is attached with a flexible
front wheel. This design able to cause the robot to make a turn in the pipe. The robot
also comprises of only three 6V motors to moving un the pipe. The kinematic model of
the in-pipe robot is driven and the prototype has been developed. The in-pipe robot will
able to turn either left or right by controlling the direction of the motor. The performance
of the robot will then be verified by experimentation. The robot able to turn in the Tshape pipe by controlling the direction of the moto