Abstract

International audience; The application of robots for the inspection of pipelines are of greater significance in industries such as nuclear, chemical and sewage. The major problem in the design of these robots lies in the selection of a suitable locomotion principle, selection of an articulation unit that facilitates the robot to pass through pipe bends and management of cables. In this context, the design of a new bio-inspired piping inspection robot that resembles an elephant trunk has been presented. With the help of leg mechanisms and actuators, a caterpillar locomotion is used within this trunk for establishing adaptive contact points with the walls of pipeline. For the passage through bends and junctions, several case studies of existing researches have been taken into account for the design of an articulation unit. Two solutions, (i) a passive tensegrity structure and (ii) an active tensegrity structure have been proposed for the robot to pass through pipe bends and junctions. A detailed design analysis of the passive solution that uses a universal joint has been presented in this article. Document type: Part of book or chapter of book

Abstract

Proposed paper deals with electro-thermo-mechanical analysis of chosen actuator structure made od FGM using new finite element derived specially for this purpose. Rectangular cross-section of individual beams that form the von Mises structure with variation of material properties in longitudinal and lateral direction will be considered. Actuator action, electric voltage and temperature peak and also mechanical stress of the structure will be evaluated. Results from the analysis calculated using our new FGM beam finite elements will be compared to results from conventional FEM analysis where standard finite elements will be used.

Abstract

The paper deals with a new approach in analyzing of the actuator systems made of Functionally Graded Materials (FGM) using our new beam finite elements. Weak coupled electro-thermomechanical analysis and spatial continuous variation of material properties are considered for chosen actuator structure. This electrically driven actuator is simple-shaped due to properly chosen variation of material properties to ensure functionality of the actuator at material and physical level instead of the geometric shape level. The solution results will be compared with those obtained by using solid elements of a FEM commercial program.