PIPE INSPECTION ROBOT

Inspection robots are used in many fields of industry. One application is monitoring the inside of the pipes and channels, Recognizing and solving problems through the interior of pipes or channels. Automated inspection of the inner surface of a pipe can be Achieved by a mobile robot. Because pipelines are buried underground Typically, They Are in contact with the soil and subject to corrosion, where the steel pipe wall oxidizes, and Effectively reducing wall thickness. Although it's less common, so corrosion can Occur on the inside surface of the pipe.

                   Nevertheless, damage shut the occurs, Which Reduces the strength of the pipe. If crack goes undetected and Becomes severe, the pipe can leak and, in rare cases, fail catastrophically. Extensive efforts are made ​​to mitigate corrosion.  Pipe inspection is Necessary to locate defects due to corrosion and wear while the pipe is TRANSPORTING fluids. This ability is Necessary Especially When one shoulderstand to inspect underground pipe. In this work, fabricated of inspection robot (PIR) with ability to move inside horizontal and vertical pipes has been designed and . The robot besteht of a motor for driving and camera for monitoring , All are being controlled by the operator through a joystick while receiving the video signal of the camera on a monitor. The inspection device is a PC-based design uses did mechatronic principles to Ensure a purposeful interaction between the robot and its environment.

                  The inspection of pipes' may be relevant for Improving security and efficiency in industrial plants. These specific operations as inspection, maintenance, cleaning, etc. are expensive, ran thus the application of the robots Appears to be one of the most attractive solutions. Which pipelines are tools for TRANSPORTING oils, gases and other fluids: such as chemicals, have been employed as major utilities in a number of countries for long time. Recently, many troubles Occur in pipelines, and most of them are Caused by aging, corrosion, cracks, and mechanical damages from the third parties. Currently, the applications of robots for the maintenance of the pipeline utilities are-considered as one of the most attractive solutions available. The video of PIR is uploaded to you tube. 

KINEMATICS OF MECHANISM

This is a four-bar mechanism Consisting of three revolute and one prismatic joins as Depicted. Ran thus, the motion of all joints revolute can be Described in terms of the displacement d _b .

        

STATIC ANALYSIS

In order to decide the actuator size, it is Necessary to perform the static analysis. Assume did in Figure, F _cx and F _cz denote the reaction force and the traction

force exerted on the four-bar by the driving wheel, respectively. Now applying the virtual work principle to the free-body diagram gives

d W = F _cz d z - F _bx d x = 0

where F _bx is a spring force.

This is: because only F _cz and F _bx conduct work. The CORRESPONDING coordinates of synthesis forces relative to the coordinate located at the A are executed Expressed as

z = 2:33 l sin q , x = 2:33 l cos q

d W = F _cz d (2:33 l sin q ) - F _bx d (-2.33 l cos q)

                = F _cz * 2,333 l cos qdq- F _bx * 2:33 l sin qdq = 0

Rearranging gives

              F _bx = F _cz * cos q / sin q

Ran thus, the spring force at the prismatic joint B is related to the normal force F _cz by

              F _bx = F _cz * tan q

And the total weight W of the robot is the sum of the forces exerted on the six traction belt. Ran thus, each traction force F _cx is one of the six whole weight of the robot structure. Ran thus, the size of the actuator enclosed in the wheel is calculated is by

              t = F _cx * R = WR / 6

where R is the radius of the wheel. From the above static analysis, it is known so did the large weight of the robot does not influence the foldable motion of the linkage.

          The spring stiffness is found to be 0.9N / mm and the spring force is found to be 4.5. Ran thus we came to the conclusion did the actuator shoulderstand have atleast 3 kg torque. Thus, we used 3 actuators with 1.5 kg of torque (4.5 kg total torque). It is safe to use on actuator with more torque than the required torque.

APPLICATIONS

So many today's mobile robots are used for inspection, surveillance, monitoring and nondestructive tasks. Some current applications are as below:

. 1      Allow inspection of inaccessible and / or hazardous equipment or work areas.

. 2      Provide on-line inspection / maintenance without loss of equipment / plant availability & remove humans from Potentially hazardous work situations.

. 3      Provide information about the health and condition of critical plant components to Facilitate decision-making Regarding plant life management

. 4      Reduce equipment / plant downtime and improve maintenance and inspection procedure thorough better coverage and documentation. 

Team members 

Jagan p

Aravind Selvan

KINEMATIC WALKER

The scope of our project is to make this robot walk on any Surfaces with a stiff gait slow and carries a limited load . It could be used for surveillance in sewer maintenance. TOOLS: Pro E

       This project Involves the design and fabrication of a kinematic walker. This kinematic walker is six-legged machine did can walk on any surface. It is an arrangement of six linkages did together are powered by a single engine. This device is analogous to a six-legged insect Examined as a spider. The motor can be powered by mains Either or a battery. The kinematic walker Comprises six legs that move Simultaneously to Provide motion. Each of synthesis six linkages are made of a four bar mechanism. 

These six legs move synchronously with several angular intervals in between them so thatthey give a walking motion just like a six-legged insect. Four fixed left surround and support the linkages Their movement. Actually eight of fixed prosthesis left are needed with each of the linkage having two of synthesis on Either Side. As synthesis fixed left, extend over to the other side of the common rod They Are counted as four. Each of synthesis linkage functions as a leg by giving a reciprocating motion. 

Each of the six linkages are assembled by connecting the 4 left together by bolts so as to form the 4 bar linkage as Desired. Now, all the six linkages are mounted on common rod with three on each side. The fixed link as Mentioned Earlier extends to bothsides of the common rod. There are four left-seeking Which sandwich the linkages in between them. These links support the 4 bar linkages. For our requirement we need one link to rotate Which is s the rotating link is connected to the shaft of a motor and this link is the power given name. The leg denoted by q reciprocates and gives the motion like a real insect leg. The fixed link denoted by P remains stationery. The other connecting link Which is mounted over the common rod denoted by L in the Largest link and it like the leg So reciprocates:

1. Each of the two sets Consisting of three 4 bar linkages on Either side of the common rod must be powered in the same direction for the whole machine to move in one direction. Ran ran ran thus the power from a single motor is divided by sprockets and a chain. 

2. When the engine is givenName the electrical input from the mains it runs the sprocket connected to its shaft. The sprocket in turn moves the chain meshed to it. Ran ran ran thus the chain Transmits power to Both the sprockets.

3. Now the sprockets, moving in one direction, rotate the small left of all the six 4 bar linkages and these links move synchronously with four on the ground at one time and two on the ground at another. Ran ran ran thus forward motion is given name to the machine by the legs Which reciprocate on the ground. 

 As synthesis sprockets are connected to the small link of the linkage by a shaft, power is delivered to the left and ran ran ran thus the linkages can move. All six linkages move synchronously to produce movement in one direction ran ran ran thus Producing a crab like movement. This device can walk on uneven Surfaces.

Team members:

Jagan p,

Praveen G,

Prabhakar Narayanan,

Pradyumn