Manufacturing Technology 2024, 24(1):28-39 | DOI: 10.21062/mft.2024.005

Motion Planning and Simulation of Multifunctional Over-the-tube Pipe Climbing Robot

Li Dong ORCID...1, Tongchao Xing ORCID...2, Yi Zheng ORCID...1,3
1 Institute of Intelligent Manufacturing, Qingdao Huanghai University, Qingdao, Shandong, 266427, China
2 Offshore Oil Engineering Qingdao Co., Ltd., Qingdao,Shandong, 266400, China
3 School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao, 266520, China

Due to the complexity of the current industrial pipeline layout, in order to improve the efficiency of pipeline inspection and maintenance, a multi-functional obstacle-surmounting pipe-crawling robot was designed to address the issues of varying pipe diameters and positions. The movement pattern of the crawling robot was studied, the variation of the clamping force of the clamping mechanism during the climbing process was analyzed, and the mapping relationship between various parameters was obtained as the basis for later kinematic simulation. The design of inverted V, positive V and other drive combinations and the planning of multi-functional obstacle-surmounting actions were conducted to verify the rationality of the structural design and the stability of the motion process of the multi-functional obstacle-surmounting pipe-crawling robot. Results showed that the multi-functional obstacle-surmounting pipe-crawling robot can achieve the expected crawling speed of 0.3m/s when moving on a horizontal pipeline, and the motion process is stable. When moving on a vertical pipeline, from the speed and displacement curve of the robot on the x, y, and z axes, it can be seen that the speed and displacement of the pipe-crawling robot are steadily increasing without any left or right swing, indicating that the clamping mechanism works well and the structural design is reasonable.

Keywords: External crawling pipe robot, Multi-functional obstacle crossing, Motion planning, Motion simulation
Grants and funding:

The Natural Science Foundation of Shandong Province (No.ZR2020QE151)and Qingdao Huanghai University doctoral research Fund Project (2020boshi02)

Received: August 17, 2023; Revised: November 5, 2023; Accepted: January 2, 2024; Prepublished online: January 31, 2024; Published: February 23, 2024  Show citation

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Dong L, Xing T, Zheng Y. Motion Planning and Simulation of Multifunctional Over-the-tube Pipe Climbing Robot. Manufacturing Technology. 2024;24(1):28-39. doi: 10.21062/mft.2024.005.
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