Ciszewski / Giergiel / Buratowski Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection

1. Auflage 2020
ISBN: 978-3-030-42715-3
Verlag: Springer International Publishing
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 82, 145 Seiten

Reihe: Mechanisms and Machine Science

This book describes the design, mathematical modeling, control system development and experimental validation of a versatile mobile pipe inspection robot. It also discusses a versatile robotic system for pipeline inspection, together with an original, adaptable tracked mobile robot featuring a patented motion unit. Pipeline inspection is a common field of application for mobile robots because the monitoring of inaccessible, long and narrow pipelines is a very difficult task for humans. The main design objective is to minimize the number of robots needed to inspect different types of horizontal and vertical pipelines, with both smooth and rough surfaces. The book includes extensive information on the various design phases, mathematical modeling, simulations and control system development. In closing, the prototype construction process and testing procedures are presented and supplemented with laboratory and field experiments.

Autoren/Hrsg.

Ciszewski, Michal

Giergiel, Mariusz

Buratowski, Tomasz

Malka, Piotr

Inhaltsverzeichnis

1;Preface;6
2;Contents;8
3;Abbreviations;11
4;Symbols;13
5;1 Introduction;17
5.1;1.1 Aim and Scope;17
5.2;1.2 Book;19
5.3;1.3 Organization of the Book;19
6;2 Robotic Inspection of Pipelines;21
6.1;2.1 Mobile Inspection Robots;21
6.2;2.2 Inspection of Pipelines;25
6.2.1;2.2.1 Pipe Defects;25
6.2.2;2.2.2 Pipe Inspection Methods;26
6.3;2.3 Mobile Robots for Pipeline Inspection;29
6.3.1;2.3.1 Outside of Pipe Inspection;30
6.3.2;2.3.2 In-Pipe Inspection Robots;30
6.3.3;2.3.3 Vertical In-Pipe Inspection;32
6.4;2.4 Summary;34
6.5;References;35
7;3 Design of a Pipeline Inspection Mobile Robot With an Active Adaptation Mechanism;38
7.1;3.1 Mechanical Structure;38
7.2;3.2 Actuators;40
7.3;3.3 Inspection Equipment;41
7.4;3.4 Operation Environments;41
7.5;3.5 Complete Robot Model;44
7.6;3.6 Summary;44
7.7;References;44
8;4 Mathematical Modeling of the Robot;45
8.1;4.1 Kinematic Model of the Robot Motion on Even Surfaces;45
8.2;4.2 Dynamic Model of the Robot Motion on Even Surfaces;48
8.3;4.3 Kinematic Model of the Pedipulators;53
8.3.1;4.3.1 Forward Kinematics;54
8.3.2;4.3.2 Inverse Kinematics;57
8.4;4.4 Trajectory Calculation Algorithm for Pedipulators Transformation;66
8.5;4.5 Pedipulators Forward Kinematics for Robot Motion in Pipes;76
8.6;4.6 Summary;82
8.7;References;83
9;5 Simulations of the Robot Adaptation and Motion in Various Environments;84
9.1;5.1 Introduction;84
9.2;5.2 Robot Models in MATLAB and V-REP Software;85
9.3;5.3 Horizontal Pipe Run;89
9.4;5.4 Motion on Even and Rough Surfaces;91
9.5;5.5 Vertical Pipe Run;93
9.6;5.6 Summary;98
9.7;References;99
10;6 Control System Design and Implementation;100
10.1;6.1 Introduction;100
10.2;6.2 Control and Navigation of Mobile Robots;100
10.3;6.3 Control of Arm-Type Robots;104
10.4;6.4 General Structure of the Pipe Inspection Robot Control System;106
10.5;6.5 Electronic Control Board;108
10.6;6.6 Software Implementation;110
10.7;6.7 Summary;111
10.8;References;112
11;7 Prototype of the Pipe Inspection Robot;114
11.1;7.1 Development and Construction of the Prototype;114
11.2;7.2 Prototype Comparison with the CAD Model;116
11.3;7.3 Electronic Components and Control System of the Robot;118
11.4;7.4 Laboratory Tests of the Prototype;118
11.4.1;7.4.1 Pedipulator Mechanism Reconfiguration;119
11.4.2;7.4.2 Tests in Different Environments;121
11.4.3;7.4.3 Experiments on a Dedicated Test Rig;123
11.4.4;7.4.4 Transformation of the Prototype in Pipes;124
11.4.5;7.4.5 Laboratory Tests in an Environment Analogous to V-REP Simulation;125
11.4.6;7.4.6 Measurements of Power Consumption;126
11.5;7.5 Enhanced Version of the Prototype;133
11.5.1;7.5.1 Control System Upgrade;134
11.5.2;7.5.2 Electronic Control Board;135
11.5.3;7.5.3 Upgraded Prototype of the Robotic Inspection System;138
11.6;7.6 Summary;140
11.7;References;141
12;8 Discussion, Conclusions and Future Work;142
12.1;8.1 Discussion and Conclusions;142
12.2;8.2 Future Work;144
12.3;References;145