Scipediacontent: Scipediacontent moved page Draft Content 519696417 to Boyer et al 2019a

2021-02-15T11:15:46Z

Scipediacontent moved page Draft Content 519696417 to Boyer et al 2019a

Scipediacontent: Created page with " == Abstract == Piping inspection robots are of greater importance for industries such as nuclear, chemical and sewage. Mechanisms having closed loop or tree-like structures..."

2021-02-15T11:15:43Z

Created page with " == Abstract == Piping inspection robots are of greater importance for industries such as nuclear, chemical and sewage. Mechanisms having closed loop or tree-like structures..."

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== Abstract ==

Piping inspection robots are of greater importance for industries such as nuclear, chemical and sewage. Mechanisms having closed loop or tree-like structures can be employed in such pipelines owing to their adaptable structures. A bio-inspired caterpillar type piping inspection robot was developed at Laboratoire des Sciences du Num&eacute

rique de Nantes (LS2N), France. Using DC motors and leg mechanisms, the robot accomplishes the locomotion of a caterpillar in six-steps. With the help of Coulomb&rsquo

s law of dry friction, a static force model was written and the contact forces between legs of robot and pipeline walls were determined. The actuator forces of the DC motors were then estimated under static phases for horizontal and vertical orientations of the pipeline. Experiments were then conducted on the prototype where the peak results of static force analysis for a given pipe diameter were set as threshold limits to attain static phases inside a test pipeline. The real-time actuator forces were estimated in experiments for similar orientations of the pipeline of static force models and they were found to be higher when compared to the numerical model.

Document type: Article

== Full document ==
<pdf>Media:Draft_Content_519696417-beopen946-9726-document.pdf</pdf>

== Original document ==

The different versions of the original document can be found in:

* [http://dx.doi.org/10.3390/robotics8020032 http://dx.doi.org/10.3390/robotics8020032] under the license https://creativecommons.org/licenses/by

* [http://dx.doi.org/10.3390/robotics8020032 http://dx.doi.org/10.3390/robotics8020032] under the license http://creativecommons.org/licenses/by/3.0/

* [https://www.mdpi.com/2218-6581/8/2/32/pdf https://www.mdpi.com/2218-6581/8/2/32/pdf] under the license https://creativecommons.org/licenses/by/4.0

* [https://hal.archives-ouvertes.fr/hal-02108495 https://hal.archives-ouvertes.fr/hal-02108495],
: [https://hal.archives-ouvertes.fr/hal-02108495/document https://hal.archives-ouvertes.fr/hal-02108495/document],
: [https://hal.archives-ouvertes.fr/hal-02108495/file/robotics-471176-final.pdf https://hal.archives-ouvertes.fr/hal-02108495/file/robotics-471176-final.pdf] under the license cc-by

* [https://www.mdpi.com/2218-6581/8/2/32 https://www.mdpi.com/2218-6581/8/2/32],
: [https://doaj.org/toc/2218-6581 https://doaj.org/toc/2218-6581]

* [https://www.mdpi.com/2218-6581/8/2/32 https://www.mdpi.com/2218-6581/8/2/32],
: [https://www.mdpi.com/2218-6581/8/2/32/pdf https://www.mdpi.com/2218-6581/8/2/32/pdf],
: [https://doaj.org/article/26823b09660d4be78be4fbd1d27cc1df https://doaj.org/article/26823b09660d4be78be4fbd1d27cc1df],
: [https://dblp.uni-trier.de/db/journals/robotics/robotics8.html#VenkateswaranCB19 https://dblp.uni-trier.de/db/journals/robotics/robotics8.html#VenkateswaranCB19],
: [https://hal.archives-ouvertes.fr/hal-02108495 https://hal.archives-ouvertes.fr/hal-02108495],
: [https://hal.archives-ouvertes.fr/hal-02108495/document https://hal.archives-ouvertes.fr/hal-02108495/document],
: [https://doi.org/10.3390/robotics8020032 https://doi.org/10.3390/robotics8020032],
: [https://academic.microsoft.com/#/detail/2938317175 https://academic.microsoft.com/#/detail/2938317175]

* [https://www.mdpi.com/2218-6581/8/2/32/pdf https://www.mdpi.com/2218-6581/8/2/32/pdf],
: [http://dx.doi.org/10.3390/robotics8020032 http://dx.doi.org/10.3390/robotics8020032]

under the license https://creativecommons.org/licenses/by/4.0/

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Boyer et al 2019a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 519696417 to Boyer et al 2019a

Scipediacontent: Created page with " == Abstract == Piping inspection robots are of greater importance for industries such as nuclear, chemical and sewage. Mechanisms having closed loop or tree-like structures..."