A pipe-crawling robot using bio-inspired peristaltic locomotion and modular actuated non-destructive evaluation mechanism

Hadi Fekrmandi; Phillip Hillard

doi:10.1117/12.2515433

20 March 2019 A pipe-crawling robot using bio-inspired peristaltic locomotion and modular actuated non-destructive evaluation mechanism

Hadi Fekrmandi, Phillip Hillard

Author Affiliations +

Proceedings Volume 10965, Bioinspiration, Biomimetics, and Bioreplication IX; 1096508 (2019) https://doi.org/10.1117/12.2515433
Event: SPIE Smart Structures + Nondestructive Evaluation, 2019, Denver, Colorado, United States

Abstract

In this paper, the design, development, and laboratory testing of a pipe crawling robot for autonomous piping maintenance is presented. The robot consists of a modular design with four cylindrical modules for navigation which uses worm-type locomotion. Two gripping modules at a given sequence alternate gripping action simultaneously to create forward motion along with the other two modules holding the robot in place between gripping sequences. The gripping modules are designed for light-weight, optimized radial traction and to provide the maximum pull force. Then an active inspection mechanism equipped with a computer vision camera is used in the design of a conceptual nondestructive evaluation module. The bio-mimic design of the robot not only provides significant traction with pipe walls to carry NDE equipment, but it also allows conducting multi-scale mechanism tasks. Inspired by peristaltic locomotion, the proposed pipe inspection crawler can perform gripping action using radial motions to adjust to variations of pipes diameter within 4-5 inches inside pipes sloped from 0 to 180 degrees. The initial crawler’s prototype is manufactured using an additive manufacturing process. A laboratory scale test set-up is manufactured for experimentation. Testing performance of the crawler shows that the robot can accomplish horizontal and vertical motions in both upward and downward directions with adjustable gripping force. It also, demonstrated fitting and T-joint compatibility for pipe transitioning.

Conference Presentation

Citation Download Citation

Hadi Fekrmandi and Phillip Hillard "A pipe-crawling robot using bio-inspired peristaltic locomotion and modular actuated non-destructive evaluation mechanism", Proc. SPIE 10965, Bioinspiration, Biomimetics, and Bioreplication IX, 1096508 (20 March 2019); https://doi.org/10.1117/12.2515433

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available