Modular Pipe Climber

TL;DR

This paper presents the design, analysis, and testing of a modular pipe climbing robot with independently operated tracks and passive springs, capable of navigating complex pipe networks efficiently.

Contribution

It introduces a novel modular pipe climber with passive spring mechanisms and differential speed control for improved navigation in complex pipe systems.

Findings

The robot effectively climbs vertical pipes and navigates bends.

Passive springs maintain contact during vertical climb and turns.

Differential speed improves efficiency and reduces stress during turns.

Abstract

This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at 120{\deg} to each other. The tracks provide for greater surface traction compared to wheels [2]. The tracks are pushed onto the inner wall of the pipe by passive springs which help in maintaining the contact with the pipe during vertical climb and while turning in bends. The modules have the provision to compress asymmetrically, which helps the robot to take turns in bends in all directions. The motor torque required by the robot and the desired spring stiffness are calculated at quasistatic and static equilibriums when the pipe climber is in a vertical climb. The springs were further simulated and analyzed in ADAMS MSC. The prototype built based on these obtained values was experimented on, in complex pipe networks. Differential speed is employed when turning in bends to improve the efficiency and reduce the stresses experienced by the robot.