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Inspection robot for parallel entry boiler header pipe

This paper presents the development of inspection robot for parallel entry boiler header pipes with drastic change in diameter. The proposed robot consists of caterpillar based robot body, lifting mechanism and camera gimbal mechanism. These mechanisms are designed to adapt the sudden pipe diameter...

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Main Authors: Anuar A., Roslin N.S., Sahari K.S.M., Aziz M.A.
Other Authors: 13609166500
Format: Article
Published: Springer Verlag 2023
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spelling my.uniten.dspace-219862023-05-16T10:46:28Z Inspection robot for parallel entry boiler header pipe Anuar A. Roslin N.S. Sahari K.S.M. Aziz M.A. 13609166500 55701843100 57218170038 57222438013 This paper presents the development of inspection robot for parallel entry boiler header pipes with drastic change in diameter. The proposed robot consists of caterpillar based robot body, lifting mechanism and camera gimbal mechanism. These mechanisms are designed to adapt the sudden pipe diameter change from 89mm to 300mm. This robot applies differential drive locomotion system that provides turning ability plus forward and reverse movement. Lifting mechanism consists of linear transmission using leadscrew and scissors linkage mechanism. This enables the robot to retract when entering the parallel entry and expand in bigger pipe. Camera gimbal mechanism enables the robot to acquire 360° inner pipe surface image with its position. Experiments have been accomplished to investigate the functionality of these mechanisms. Results obtained shows that the robot has fulfilled its design requirements and achieved its objective. © Springer International Publishing Switzerland 2014. Final 2023-05-16T02:46:28Z 2023-05-16T02:46:28Z 2014 Article 10.1007/978-3-319-05573-2_10 2-s2.0-84927604948 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84927604948&doi=10.1007%2f978-3-319-05573-2_10&partnerID=40&md5=5bbc889356e68b878c025ce8d52af4e8 https://irepository.uniten.edu.my/handle/123456789/21986 269 105 114 Springer Verlag Scopus
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
description This paper presents the development of inspection robot for parallel entry boiler header pipes with drastic change in diameter. The proposed robot consists of caterpillar based robot body, lifting mechanism and camera gimbal mechanism. These mechanisms are designed to adapt the sudden pipe diameter change from 89mm to 300mm. This robot applies differential drive locomotion system that provides turning ability plus forward and reverse movement. Lifting mechanism consists of linear transmission using leadscrew and scissors linkage mechanism. This enables the robot to retract when entering the parallel entry and expand in bigger pipe. Camera gimbal mechanism enables the robot to acquire 360° inner pipe surface image with its position. Experiments have been accomplished to investigate the functionality of these mechanisms. Results obtained shows that the robot has fulfilled its design requirements and achieved its objective. © Springer International Publishing Switzerland 2014.
author2 13609166500
author_facet 13609166500
Anuar A.
Roslin N.S.
Sahari K.S.M.
Aziz M.A.
format Article
author Anuar A.
Roslin N.S.
Sahari K.S.M.
Aziz M.A.
spellingShingle Anuar A.
Roslin N.S.
Sahari K.S.M.
Aziz M.A.
Inspection robot for parallel entry boiler header pipe
author_sort Anuar A.
title Inspection robot for parallel entry boiler header pipe
title_short Inspection robot for parallel entry boiler header pipe
title_full Inspection robot for parallel entry boiler header pipe
title_fullStr Inspection robot for parallel entry boiler header pipe
title_full_unstemmed Inspection robot for parallel entry boiler header pipe
title_sort inspection robot for parallel entry boiler header pipe
publisher Springer Verlag
publishDate 2023
_version_ 1806423265248280576
score 13.222552

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