Modeling of the in-pipe inspection robot: a comprehensive review

The in-pipe inspection robotic system is crucial in examining the inside of a pipe without compromising its structural safety. The in-pipe inspection robotic system is a promising alternative to conventional methods of x-ray inspection and visual inspection. Despite the ongoing investigation, the ef...

وصف كامل

محفوظ في:
التفاصيل البيبلوغرافية
المؤلفون الرئيسيون: Ab. Rashid, M. Z., Mohd. Yakub, M. F., Zaki, S. A., Mamat, N., Syed Mohd. Putra, S. M., Roslan, S. A.
التنسيق: مقال
منشور في: Elsevier Ltd. 2020
الموضوعات:
الوصول للمادة أونلاين:http://eprints.utm.my/id/eprint/86595/
https://dx.doi.org/10.1016/j.oceaneng.2020.107206
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الوصف
الملخص:The in-pipe inspection robotic system is crucial in examining the inside of a pipe without compromising its structural safety. The in-pipe inspection robotic system is a promising alternative to conventional methods of x-ray inspection and visual inspection. Despite the ongoing investigation, the effectiveness of the in-pipe inspection robotic system, particularly regarding the mathematical modeling of the system design, still needs to be improved. The in-pipe inspection robot which is normally equipped with a camera or non-destructive testing (NDT) equipment moves inside the pipeline to conduct a pipe integrity assessment. The main problem during an inspection is the restricted maneuverability of the robot due to geometric changes in the pipe. This can be overcome by designing a proper mathematical model to develop an effective inspection robotic system. Therefore, this paper provides a systematic review of different modeling types of the in-pipe inspection robotic systems, including the assessment of the kinematic and dynamic mathematical models for the system. This review paper covers in-pipe inspection robotic systems with several driving mechanisms such as fluid-driven, wheeled mobile drive (WMD), screw or helical drive, legged and biomimetic drives.