Development of an industrial pipeline inspection robot

Abstract

Purpose

The purpose of this paper is to describe design and development of a pole climbing robot (PCR) for inspection of industrial size pipelines. Nowadays, non‐destructive testing (NDT) methods are performed by dextrous technicians across high‐level pipes, frequently carrying dangerous chemicals. This paper reports development of a PCR that can perform in situ manipulation for NDT tests.

Design/methodology/approach

Introduces a PCR including a novel four‐degrees of freedom climbing serial mechanism with the nearly optimal workspace and weight, unique V‐shaped grippers and a fast rotational mechanism around the pole axis. Simplicity, safety, minimum weight, and manipulability were concerned in the design process.

Findings

The developed prototype proved possibility of application of PCRs for NDT inspection on elevated structures. Design and development of PCRs which are able to pass bends and T‐junctions faces much more difficulties than those which should climb from a straight pole.

Practical implications

The robot is successfully tested on an industrial size structure (exterior diameter of 219 mm) with bends and T‐junctions.

Originality/value

Design and development of a novel pole climbing and manipulating robot for inspection of industrial size pipelines. The robot is able to pass bends and T‐junctions. The V‐shaped grippers offer many advantages including safety and tolerance to power failure. After grasping the structure, in case of power failure in any of the grippers' motors, the robot does not slip on the structure. The Z‐axis rotational mechanism provides fast navigation around the pole which is not possible with the traditional serial articulated arms.

Citation

Tavakoli, M., Marques, L. and de Almeida, A.T. (2010), "Development of an industrial pipeline inspection robot", Industrial Robot, Vol. 37 No. 3, pp. 309-322. https://doi.org/10.1108/01439911011037721