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Theses

Design of a bio-inspired robot for inspection of pipelines

Abstract : Piping inspection robots play an important role in industries such as nuclear, chemical and sewage. They can perform the assigned task with better accuracy and at the same time, they can operate within an irradiated or a polluted environment thereby reducing the risks for humans. This doctoral thesis focuses on the design of a bio-inspired robot for the inspection of pipelines. The thesis begins with the case study of a rigid bio-inspired piping inspection robot which was developed at LS2N, France for a project with AREVA. Static and dynamic force models are developed to understand the clamping forces and the torques on the actuators of the robot. Experimental validations are then done on the prototype to interpret the real-time actuator forces. In order to improve mobility, the robot architecture is made flexible by the addition of a Tensegrity mechanism. Two types of Tensegrity mechanisms are proposed and analyzed using algebraic methods to understand their tilt limits and to identify the influences on the design parameters. Experiments are performed on one of the prototypes of the Tensegrity mechanism developed at LS2N for two types of trajectories in the vertical and horizontal orientations. An optimization approach is then being implemented to identify the sizes of motors that can permit the flexible piping inspection robot to overcome bends and junctions for a given range of pipeline diameters. A digital model of the flexible robot is then realized in CAD software.
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https://tel.archives-ouvertes.fr/tel-03164212
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Submitted on : Tuesday, March 9, 2021 - 5:19:17 PM
Last modification on : Thursday, March 11, 2021 - 3:11:10 AM

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  • HAL Id : tel-03164212, version 1

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Swaminath Venkateswaran. Design of a bio-inspired robot for inspection of pipelines. Robotics [cs.RO]. École centrale de Nantes, 2020. English. ⟨NNT : 2020ECDN0024⟩. ⟨tel-03164212⟩

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