Development of 3D boiler header template using Webots

Nur Maisurah Hassan Basri, Khairul Salleh Mohamed Sahari, Syed Sulaiman Kaja Mohideen, Nur Shahida Roslin, Adzly Anuar

Research output: Contribution to journalConference article

2 Citations (Scopus)


Offline boiler header inspection is a tedious process if done manually since the opening is very small to insert big instruments and tools while the length can range up to 20 m. The geometry can also be complex since boiler tubes are connected to these headers from different directions. Designing of robots to assist in offline boiler header inspections can be made easier if a simulator is available for deciding the parameters of the robot. This paper describes the development of a 3D boiler header pipe environment template for boiler header inspection robot (BHIR) using Webots. The purpose is to use it as a simulator for the development of BHIR prototypes. Firstly, 3D boiler header pipe environment is constructed by using Pro Engineer (Pro\E). Next, Virtual Reality Modeling Language or VRML97 is used to convert file from Pro\E world file to Webots world file. Finally, simulations are carried out to verify the effectiveness of the developed 3Dboiler header environment template. Results show the advantages of having the simulator for modeling and designing of BHIR prototypes.

Original languageEnglish
Pages (from-to)1463-1468
Number of pages6
JournalProcedia Engineering
Publication statusPublished - 01 Jan 2012
Event2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 - Kuching, Sarawak, Malaysia
Duration: 04 Sep 201206 Sep 2012


All Science Journal Classification (ASJC) codes

  • Engineering(all)

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