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Use of 3D simulation to design theoretical and real pipe inspection mobile robot model

Baranowski L., Siwek M.

Acta Mechanica et Automatica

2018

Vol. 12, no. 3

232--236

The main aim of the paper is to present the process of design pipe inspection mobile robot by using 3D simulations. Next methods and processes of making designed components was described. Finally, functional tests of a constructed real robot model such as speed tests, inclined pipe test was carried out. The robot was specifically designed to inspect sewer pipelines. The mobile robot is equipped with a vision system. The structure of the pipe inspection robot allows adjustments to the geometrical parameters of the robot to suit the sewer pipes diameters by using in the construction of a pneumatic system with an actuator.

Modeling and simulation of a tracked mobile inspection robot in Matlab and V-REP software

Ciszewski M., Mitka Ł., Buratowski T., Giergiel M.

Journal of Automation Mobile Robotics and Intelligent Systems

2017

Vol. 11, No. 2

5--11

This paper presents modeling and simulation of a tracked mobile robot for pipe inspection with usage of MATLAB and V-REP software. Mechanical structure of the robot is described with focus on pedipulators, used to change pose of track drive modules to adapt to different pipe sizes and shapes. Modeling of the pedipulators is shown with application of MATLAB environment. The models are verified using V-REP and MATLAB co-simulations. Finally, operation of a prototype is shown on a test rig. The robot utilizes joint space trajectories, computed with usage of the mathematical models of the pedipulators.