Inspection robot for parallel entry boiler header pipe

Adzly Anuar, Nur Shahida Roslin, Khairul Salleh Mohamed Sahari, M. Azwan Aziz

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

This paper presents the development of inspection robot for parallel entry boiler header pipes with drastic change in diameter. The proposed robot consists of caterpillar based robot body, lifting mechanism and camera gimbal mechanism. These mechanisms are designed to adapt the sudden pipe diameter change from 89mm to 300mm. This robot applies differential drive locomotion system that provides turning ability plus forward and reverse movement. Lifting mechanism consists of linear transmission using leadscrew and scissors linkage mechanism. This enables the robot to retract when entering the parallel entry and expand in bigger pipe. Camera gimbal mechanism enables the robot to acquire 360° inner pipe surface image with its position. Experiments have been accomplished to investigate the functionality of these mechanisms. Results obtained shows that the robot has fulfilled its design requirements and achieved its objective.

Original languageEnglish
Pages (from-to)105-114
Number of pages10
JournalAdvances in Intelligent Systems and Computing
Volume269
DOIs
Publication statusPublished - 01 Jan 2014

Fingerprint

Boilers
Inspection
Pipe
Robots
Cameras
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

@article{cc664acf0b2c4839ba6dbe46e4eb2410,
title = "Inspection robot for parallel entry boiler header pipe",
abstract = "This paper presents the development of inspection robot for parallel entry boiler header pipes with drastic change in diameter. The proposed robot consists of caterpillar based robot body, lifting mechanism and camera gimbal mechanism. These mechanisms are designed to adapt the sudden pipe diameter change from 89mm to 300mm. This robot applies differential drive locomotion system that provides turning ability plus forward and reverse movement. Lifting mechanism consists of linear transmission using leadscrew and scissors linkage mechanism. This enables the robot to retract when entering the parallel entry and expand in bigger pipe. Camera gimbal mechanism enables the robot to acquire 360° inner pipe surface image with its position. Experiments have been accomplished to investigate the functionality of these mechanisms. Results obtained shows that the robot has fulfilled its design requirements and achieved its objective.",
author = "Adzly Anuar and Roslin, {Nur Shahida} and {Mohamed Sahari}, {Khairul Salleh} and Aziz, {M. Azwan}",
year = "2014",
month = "1",
day = "1",
doi = "10.1007/978-3-319-05573-2_10",
language = "English",
volume = "269",
pages = "105--114",
journal = "Advances in Intelligent Systems and Computing",
issn = "2194-5357",
publisher = "Springer Verlag",

}

Inspection robot for parallel entry boiler header pipe. / Anuar, Adzly; Roslin, Nur Shahida; Mohamed Sahari, Khairul Salleh; Aziz, M. Azwan.

In: Advances in Intelligent Systems and Computing, Vol. 269, 01.01.2014, p. 105-114.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Inspection robot for parallel entry boiler header pipe

AU - Anuar, Adzly

AU - Roslin, Nur Shahida

AU - Mohamed Sahari, Khairul Salleh

AU - Aziz, M. Azwan

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This paper presents the development of inspection robot for parallel entry boiler header pipes with drastic change in diameter. The proposed robot consists of caterpillar based robot body, lifting mechanism and camera gimbal mechanism. These mechanisms are designed to adapt the sudden pipe diameter change from 89mm to 300mm. This robot applies differential drive locomotion system that provides turning ability plus forward and reverse movement. Lifting mechanism consists of linear transmission using leadscrew and scissors linkage mechanism. This enables the robot to retract when entering the parallel entry and expand in bigger pipe. Camera gimbal mechanism enables the robot to acquire 360° inner pipe surface image with its position. Experiments have been accomplished to investigate the functionality of these mechanisms. Results obtained shows that the robot has fulfilled its design requirements and achieved its objective.

AB - This paper presents the development of inspection robot for parallel entry boiler header pipes with drastic change in diameter. The proposed robot consists of caterpillar based robot body, lifting mechanism and camera gimbal mechanism. These mechanisms are designed to adapt the sudden pipe diameter change from 89mm to 300mm. This robot applies differential drive locomotion system that provides turning ability plus forward and reverse movement. Lifting mechanism consists of linear transmission using leadscrew and scissors linkage mechanism. This enables the robot to retract when entering the parallel entry and expand in bigger pipe. Camera gimbal mechanism enables the robot to acquire 360° inner pipe surface image with its position. Experiments have been accomplished to investigate the functionality of these mechanisms. Results obtained shows that the robot has fulfilled its design requirements and achieved its objective.

UR - http://www.scopus.com/inward/record.url?scp=84927604948&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84927604948&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-05573-2_10

DO - 10.1007/978-3-319-05573-2_10

M3 - Article

AN - SCOPUS:84927604948

VL - 269

SP - 105

EP - 114

JO - Advances in Intelligent Systems and Computing

JF - Advances in Intelligent Systems and Computing

SN - 2194-5357

ER -