Next Article in Journal
Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling
Next Article in Special Issue
Design and Implementation of a Connection between Augmented Reality and Sensors
Previous Article in Journal
Remote Presence: Development and Usability Evaluation of a Head-Mounted Display for Camera Control on the da Vinci Surgical System
Open AccessFeature PaperArticle

Numerical and Experimental Validation of the Prototype of a Bio-Inspired Piping Inspection Robot

1
Laboratoire des Sciences du Numérique de Nantes (LS2N), UMR CNRS 6004, 44300 Nantes, France
2
École Centrale de Nantes, 44321 Nantes, France
3
Centre National de la Recherche Scientifique (CNRS), 44321 Nantes, France
4
IMT Atlantique, 44307 Nantes, France
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Robotics 2019, 8(2), 32; https://doi.org/10.3390/robotics8020032
Received: 10 March 2019 / Revised: 18 April 2019 / Accepted: 19 April 2019 / Published: 23 April 2019
(This article belongs to the Special Issue Advances in Inspection Robotic Systems)
Piping inspection robots are of greater importance for industries such as nuclear, chemical and sewage. Mechanisms having closed loop or tree-like structures can be employed in such pipelines owing to their adaptable structures. A bio-inspired caterpillar type piping inspection robot was developed at Laboratoire des Sciences du Numérique de Nantes (LS2N), France. Using DC motors and leg mechanisms, the robot accomplishes the locomotion of a caterpillar in six-steps. With the help of Coulomb’s law of dry friction, a static force model was written and the contact forces between legs of robot and pipeline walls were determined. The actuator forces of the DC motors were then estimated under static phases for horizontal and vertical orientations of the pipeline. Experiments were then conducted on the prototype where the peak results of static force analysis for a given pipe diameter were set as threshold limits to attain static phases inside a test pipeline. The real-time actuator forces were estimated in experiments for similar orientations of the pipeline of static force models and they were found to be higher when compared to the numerical model. View Full-Text
Keywords: piping inspection; bio-inspired robot; static force analysis; coulomb’s law piping inspection; bio-inspired robot; static force analysis; coulomb’s law
Show Figures

Figure 1

MDPI and ACS Style

Venkateswaran, S.; Chablat, D.; Boyer, F. Numerical and Experimental Validation of the Prototype of a Bio-Inspired Piping Inspection Robot. Robotics 2019, 8, 32.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop