Design and development of small and simple dual robot for inspecting pipe with perpendicular entry

Nur Shahida Roslin, Adzly Anuar, Khairul Salleh Mohamed Sahari, Mohd Nazrin Afzan Abu Bakar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the development of a small and simple dual robot system for pipe inspection activity. The objective is to propose small and simple dual robot in navigating perpendicular entry with sudden change in pipe diameter. Sudden change in diameter is referred to the drastic difference in size of the entry (80 mm in diameter) and the pipe (250 mm in diameter and above). The robot consists of two rectangular-shaped modules linked with a connector. The size of the body is 38 mm (width) × 55 mm (length) × 44 mm (height). Each module is driven by two micro metal gear motors. It uses caterpillar base for locomotion to provide larger surface contact to the pipe wall. The 2 degree-of-freedom (DoF) connector allows the robot to bend in pitch and yaw axes without any drive force required. Preliminary test result shows its ability to navigate through the expected geometry.

Original languageEnglish
Title of host publication8th International Conference on Robotic, Vision, Signal Processing and Power Applications
Subtitle of host publicationInnovation Excellence Towards Humanistic Technology
PublisherSpringer Verlag
Pages119-128
Number of pages10
ISBN (Print)9789814585415
DOIs
Publication statusPublished - 01 Jan 2014
Event8th International Conference on Robotic, Vision, Signal Processing and Power Applications, RoViSP 2013 - Penang, Malaysia
Duration: 10 Nov 201312 Nov 2013

Publication series

NameLecture Notes in Electrical Engineering
Volume291 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Other

Other8th International Conference on Robotic, Vision, Signal Processing and Power Applications, RoViSP 2013
CountryMalaysia
CityPenang
Period10/11/1312/11/13

Fingerprint

Pipe
Robots
Degrees of freedom (mechanics)
Gears
Inspection
Geometry
Metals

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

Cite this

Roslin, N. S., Anuar, A., Mohamed Sahari, K. S., & Bakar, M. N. A. A. (2014). Design and development of small and simple dual robot for inspecting pipe with perpendicular entry. In 8th International Conference on Robotic, Vision, Signal Processing and Power Applications: Innovation Excellence Towards Humanistic Technology (pp. 119-128). (Lecture Notes in Electrical Engineering; Vol. 291 LNEE). Springer Verlag. https://doi.org/10.1007/978-981-4585-42-2_14
Roslin, Nur Shahida ; Anuar, Adzly ; Mohamed Sahari, Khairul Salleh ; Bakar, Mohd Nazrin Afzan Abu. / Design and development of small and simple dual robot for inspecting pipe with perpendicular entry. 8th International Conference on Robotic, Vision, Signal Processing and Power Applications: Innovation Excellence Towards Humanistic Technology. Springer Verlag, 2014. pp. 119-128 (Lecture Notes in Electrical Engineering).
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abstract = "This paper presents the development of a small and simple dual robot system for pipe inspection activity. The objective is to propose small and simple dual robot in navigating perpendicular entry with sudden change in pipe diameter. Sudden change in diameter is referred to the drastic difference in size of the entry (80 mm in diameter) and the pipe (250 mm in diameter and above). The robot consists of two rectangular-shaped modules linked with a connector. The size of the body is 38 mm (width) × 55 mm (length) × 44 mm (height). Each module is driven by two micro metal gear motors. It uses caterpillar base for locomotion to provide larger surface contact to the pipe wall. The 2 degree-of-freedom (DoF) connector allows the robot to bend in pitch and yaw axes without any drive force required. Preliminary test result shows its ability to navigate through the expected geometry.",
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Roslin, NS, Anuar, A, Mohamed Sahari, KS & Bakar, MNAA 2014, Design and development of small and simple dual robot for inspecting pipe with perpendicular entry. in 8th International Conference on Robotic, Vision, Signal Processing and Power Applications: Innovation Excellence Towards Humanistic Technology. Lecture Notes in Electrical Engineering, vol. 291 LNEE, Springer Verlag, pp. 119-128, 8th International Conference on Robotic, Vision, Signal Processing and Power Applications, RoViSP 2013, Penang, Malaysia, 10/11/13. https://doi.org/10.1007/978-981-4585-42-2_14

Design and development of small and simple dual robot for inspecting pipe with perpendicular entry. / Roslin, Nur Shahida; Anuar, Adzly; Mohamed Sahari, Khairul Salleh; Bakar, Mohd Nazrin Afzan Abu.

8th International Conference on Robotic, Vision, Signal Processing and Power Applications: Innovation Excellence Towards Humanistic Technology. Springer Verlag, 2014. p. 119-128 (Lecture Notes in Electrical Engineering; Vol. 291 LNEE).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Roslin NS, Anuar A, Mohamed Sahari KS, Bakar MNAA. Design and development of small and simple dual robot for inspecting pipe with perpendicular entry. In 8th International Conference on Robotic, Vision, Signal Processing and Power Applications: Innovation Excellence Towards Humanistic Technology. Springer Verlag. 2014. p. 119-128. (Lecture Notes in Electrical Engineering). https://doi.org/10.1007/978-981-4585-42-2_14