Title: Development of hybrid locomotive in-pipe robot

Authors: Atul Gargade; Shantipal Ohol

Addresses: Mechanical Engineering Department, College of Engineering Pune, Pune, India ' Mechanical Engineering Department, College of Engineering Pune, Pune, India

Abstract: This paper describes the development of an autonomous hybrid locomotive in-pipe inspection robot (IPIR) version 4. The novelty of version 4 is its hybrid steering mechanism and stability, manoeuvrability, mobility, flexibility, and diameter adjustability inside the different pipe elements. The vertical mobility and diameter adjustability of IPIR are improved by optimising its spring design in such a way that version 4 can pass through 8-inch to 10-inch diameter pipe elements at 0-degree, 45-degree and 90-degree inclinations. The IPIR version 4 is composed of a front leg system, a back leg system, connectors and two DC motors. To verify the potency of the steering mechanism, several experiments of version 4 are conducted through basic structures such as straight pipes, couplings, and bends of 8-inch, 9-inch and 10-inch in diameter. This robot will be utilised for the inspection of water pipelines, gas pipelines and drainpipes. [Submitted 20 December 2022; Accepted 2 January 2023]

Keywords: autonomous; bends; manoeuvrability; steering mechanism; hybrid locomotive; couplings.

DOI: 10.1504/IJMR.2024.136557

International Journal of Manufacturing Research, 2024 Vol.19 No.1, pp.36 - 61

Received: 20 Dec 2022
Accepted: 02 Jan 2023
Published online: 07 Feb 2024 *

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