Abstract: In-pipe robotic systems are increasingly being used for visual inspection and nondestructive testing to monitor block, corrosion, crack, defect, and wall thickness of pipeline networks. In this paper an in-pipe mobile robot with the passive ability of adaptation to pipe diameter is presented. Its mechanical structure consists of three sets of parallelogram wheeled leg mechanism which are circumferentially spaced out 120 degrees apart symmetrically. Using a simple preloaded spring makes this structural design capable to realize the adaptation to a wide range of pipe diameters, from 20 to 32 inch, and also wheel normal forces adjustment. On the basis of analyzing the mechanical actions of the adaptation to pipe diameter and normal force adjusting, the related mechanical models are derived. Using simulations performed by Msc Adams the derived models are validated and also the ability of robot in performing challenging tasks in different pipe profiles is inspected. Dynamic simulations prov

• Publication Date: 19-Aug-2016
• DOI: 10.15224/978-1-63248-102-3-40
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Abstract: In this paper a transfer function of submarine and steering gear are defined. Transfer functions have been analyzed and mathematical model of the system is presented. Optimal controller and its parameters are found using simulation of the whole system by Matlab and Simulink. Optimal parameters have been confirmed applying Parseval’s theorem. Different types of controllers: P, PI and PID are analyzed. Responses for the whole system to the unity step function are given. To determine the stability of the system, analytical and graphical methods were used. A nonlinear system was also considered with two nonlinear elements to protect a steering gear from the huge signals. Further research for improvement of the model, including a certain disturbance is suggested.

• Publication Date: 19-Aug-2016
• DOI: 10.15224/978-1-63248-102-3-41
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