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Volume 12
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Article

An In-Pipe Inspection Robot with Permanent Magnets and Omnidirectional Wheels: Design and Implementation

by
Kaned Thung-Od
1,
Kiattisin Kanjanawanishkul
2,*,
Thavida Maneewarn
3,
Thunyaseth Sethaput
4 and
Arsit Boonyaprapasorn
5
1
Mechatronics Research Unit, Faculty of Engineering, Mahasarakham University, Mahasarakham 44150, Thailand
2
Research Unit of Process Design and Automation, Faculty of Engineering, Mahasarakham University, Mahasarakham 44150, Thailand
3
Institute of Field Robotics, King Mongkut’s University of Technology Thonburi, Bangkok 10140, Thailand
4
Department of Mechanical Engineering, Sirindhorn International Institute of Technology, Thammasat University, Bangkok 12120, Thailand
5
Department of Mechanical Engineering, Chulachomklao Royal Military Academy, Nakhon Nayok 26001, Thailand
*
Author to whom correspondence should be addressed.
Appl. Sci. 2022, 12(3), 1226; https://doi.org/10.3390/app12031226
Submission received: 28 November 2021 / Revised: 26 December 2021 / Accepted: 12 January 2022 / Published: 25 January 2022
(This article belongs to the Section Robotics and Automation)
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Abstract

This paper aims to present the design and prototype of an inspection robot that can perform both horizontal and vertical locomotion in ferromagnetic pipelines. The proposed robot applies to a range from 5-inch (127 mm) diameter pipes to flat plates. The train-like robot is mainly composed of three sealed modules with omnidirectional driving wheels for longitudinal and transverse movements. Permanent magnets were designed to provide sufficient magnetic adhesion between the robot and the ferromagnetic surface of the pipes. The internal condition of the pipe can be monitored visually through cameras and sensors. Specific experimental conditions have been carried out to validate the robot’s capabilities, including maximum speed, payload capacity, and vertical climbing distance. The experimental results also show that the robot is capable of passing through a straight pipe and elbow fitting in both upward and downward directions.
Keywords: in-pipe robot; pipe inspection; magnetic robot; train-like robot in-pipe robot; pipe inspection; magnetic robot; train-like robot

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MDPI and ACS Style

Thung-Od, K.; Kanjanawanishkul, K.; Maneewarn, T.; Sethaput, T.; Boonyaprapasorn, A. An In-Pipe Inspection Robot with Permanent Magnets and Omnidirectional Wheels: Design and Implementation. Appl. Sci. 2022, 12, 1226. https://doi.org/10.3390/app12031226

AMA Style

Thung-Od K, Kanjanawanishkul K, Maneewarn T, Sethaput T, Boonyaprapasorn A. An In-Pipe Inspection Robot with Permanent Magnets and Omnidirectional Wheels: Design and Implementation. Applied Sciences. 2022; 12(3):1226. https://doi.org/10.3390/app12031226

Chicago/Turabian Style

Thung-Od, Kaned, Kiattisin Kanjanawanishkul, Thavida Maneewarn, Thunyaseth Sethaput, and Arsit Boonyaprapasorn. 2022. "An In-Pipe Inspection Robot with Permanent Magnets and Omnidirectional Wheels: Design and Implementation" Applied Sciences 12, no. 3: 1226. https://doi.org/10.3390/app12031226

APA Style

Thung-Od, K., Kanjanawanishkul, K., Maneewarn, T., Sethaput, T., & Boonyaprapasorn, A. (2022). An In-Pipe Inspection Robot with Permanent Magnets and Omnidirectional Wheels: Design and Implementation. Applied Sciences, 12(3), 1226. https://doi.org/10.3390/app12031226

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