TY - GEN
T1 - Design and construction of an in-pipe robot for inspection and maintenance
AU - Sibai, Fadi N.
AU - Sayegh, Amer Ahmed
AU - Al-Taie, Ihsan
N1 - KAUST Repository Item: Exported on 2020-10-01
PY - 2012/12
Y1 - 2012/12
N2 - Inspection and maintenance of aging pipelines is crucial to the reliable and continued distribution of hydrocarbons. In this paper, we describe the design and construction of a robotic platform for inspection and minor maintenance of pipelines. The 7.5 kg robotic platform was demonstrated to move straight inside 12″ to 16″ diameter pipes in a forward or backward direction, and either horizontally or vertically. The experimental robotic platform has three sets of two wheels, and three driving motors. The equations governing the mechanical frame's component sizes are presented and the robotic frame component dimensions derived. The paper also discusses the construction and testing of the robot. Future work includes adding sensors, controls for turning, a microcontroller board, and a robotic arm for performing maintenance tasks. © 2012 IEEE.
AB - Inspection and maintenance of aging pipelines is crucial to the reliable and continued distribution of hydrocarbons. In this paper, we describe the design and construction of a robotic platform for inspection and minor maintenance of pipelines. The 7.5 kg robotic platform was demonstrated to move straight inside 12″ to 16″ diameter pipes in a forward or backward direction, and either horizontally or vertically. The experimental robotic platform has three sets of two wheels, and three driving motors. The equations governing the mechanical frame's component sizes are presented and the robotic frame component dimensions derived. The paper also discusses the construction and testing of the robot. Future work includes adding sensors, controls for turning, a microcontroller board, and a robotic arm for performing maintenance tasks. © 2012 IEEE.
UR - http://hdl.handle.net/10754/594164
UR - http://ieeexplore.ieee.org/document/6454459/
UR - http://www.scopus.com/inward/record.url?scp=84874404802&partnerID=8YFLogxK
U2 - 10.1109/iccsii.2012.6454459
DO - 10.1109/iccsii.2012.6454459
M3 - Conference contribution
SN - 9781467351577
BT - 2012 International Conference on Computer Systems and Industrial Informatics
PB - Institute of Electrical and Electronics Engineers (IEEE)
ER -