A‌‌pipe‌‌climbing‌‌robot‌‌project‌‌for‌‌2021‌‌Basics‌‌Of‌‌

Mechatronics‌ ‌class‌‌in‌A ‌ kademia‌‌Górniczo-Hutnicza‌‌

‌‌

1.‌‌INTRODUCTION‌ ‌

[1]‌https://www.semanticscholar.org/paper/Design-of-the-out-pipe-type-pipe-climbing-robot-Le‌
e/c7a68a5c4f251b399b2aa85ed7e38de972b86d8b‌‌‌visited‌‌06.2021‌ ‌
[2]‌https://youtu.be/5rLiA9q4Rog‌‌‌visited‌‌6.2021‌ ‌
[3]‌https://www.semanticscholar.org/paper/Pole-climbing-robot-for-connecting-distribution-Kh‌
alid-Ahmed/6c3e49f7b4cc705cd0ddedf756809be8c47b091d‌‌‌visited‌‌6.2021‌ ‌
[4]‌http://www.romela.org/hydras-hyper-redundant-discrete-robotic-articulated-serpentine/‌‌
visited‌‌6.2021‌ ‌

‌ niversity:‌A
u ‌ kademia‌‌Górniczo-Hutnicza‌‌im.‌‌Stanisława‌‌Staszica‌‌w‌‌Krakowie‌ ‌
subject:‌‌Basics‌‌Of‌‌Mechatronics‌ ‌

Authors:‌ ‌
Marcin‌‌Walaszek‌ ‌
Nikodem‌‌Weltrowski‌ ‌
Szymon‌‌Świątek‌ ‌
Wojciech‌‌Walas‌ ‌

‌
2.‌‌OVERVIEW‌‌OF‌‌EXISTING‌‌SOLUTIONS‌‌ ‌

‌ n‌‌the‌‌market‌‌there‌‌are‌‌three‌‌popular‌‌solutions‌‌to‌‌robots‌‌moving‌‌on‌‌pipes.‌ ‌
O
Most‌‌popular‌‌is‌‌[1]‌‌the‌‌robot‌‌in‌‌ring‌‌formation.‌‌It’s‌‌stable‌‌but‌‌has‌‌a‌‌major‌‌flaw‌‌in‌‌that‌‌it‌‌can't‌‌
be‌‌easily‌‌removed‌‌from‌‌the‌‌pipe.‌‌The‌‌second‌‌most‌‌popular‌‌system‌‌is‌‌[3]‌‌the‌‌robot‌‌with‌‌2‌‌or‌‌
more‌‌hands‌‌which‌‌alternate‌‌between‌‌moving‌‌and‌‌holding‌‌the‌‌robot.‌‌It‌‌can‌‌be‌‌constructed‌‌
using‌‌soft-body‌‌materials‌‌and‌‌hydraulics,‌‌but‌‌isn’t‌‌as‌‌stable‌‌as‌‌other‌‌solutions.‌‌[2]‌‌Robots‌‌
using‌‌scissor-like‌‌mechanisms‌‌to‌‌clamp‌‌down‌‌aren’t‌‌as‌‌popular‌‌but‌‌can‌‌be‌‌found.‌‌In‌‌
development‌‌there‌‌are‌‌also‌‌animal‌‌like‌‌robots‌‌working‌‌like‌‌[4]‌‌snakes‌‌or‌‌caterpillars.‌‌ ‌

Our‌‌robot‌‌differs‌‌from‌‌them‌‌by‌‌using‌‌a‌‌new‌‌system‌‌of‌‌tightening‌‌on‌‌the‌‌pipe.‌‌ ‌

3.‌‌MORPHOLOGICAL‌‌CHART‌‌(3pages‌‌MC‌‌+‌‌2-5‌‌pages‌‌explanation)‌ ‌

Morphological‌‌chart‌‌for‌‌pipe‌‌climbing‌‌robot‌‌project‌‌AGH2021‌ ‌
index‌ ‌ problem‌ ‌ solution‌‌1‌ ‌ solution‌‌2‌ ‌ solution‌‌3‌ ‌ solution‌‌4‌ ‌ solution‌‌5‌ ‌ legend‌ ‌
mechanics‌ ‌
tightening‌‌ caterpillar‌ ‌ scissor‌ ‌ guided‌‌rail‌ ‌ ring‌ ‌ 2‌‌hands‌ ‌ solution‌ ‌
method‌ ‌
high‌ ‌ low‌ ‌ average‌ ‌ high‌ ‌ average‌ ‌ price‌ ‌
average‌ ‌ simple‌ ‌ average‌ ‌ complex‌ ‌ complex‌ ‌ complexity‌ ‌
1‌ average‌ ‌ low‌ ‌ high‌ ‌ average‌ ‌ low‌ ‌ quality‌ ‌
number‌‌of‌‌ 1‌ 2‌ 3‌ 4‌ >4‌ ‌ solution‌ ‌
segments‌ ‌
low‌ ‌ low‌ ‌ average‌ ‌ high‌ ‌ high‌ ‌ price‌ ‌
simple‌ ‌ simple‌ ‌ average‌ ‌ complex‌ ‌ complex‌ ‌ complexity‌ ‌
2‌ low‌ ‌ average‌ ‌ high‌ ‌ average‌ ‌ inadequate‌ quality‌ ‌
constructio‌ CNC‌‌
n‌ ‌ LEGO‌ ‌ 3D‌‌printed‌ ‌ machined‌ ‌ Softbody‌ ‌ plywood‌ ‌ solution‌ ‌
average‌ ‌ low‌ ‌ high‌ ‌ low‌ ‌ low‌ ‌ price‌ ‌
average‌ ‌ average‌ ‌ average‌ ‌ high‌ ‌ low‌ ‌ complexity‌ ‌
3‌ average‌ ‌ average‌ ‌ high‌ ‌ low‌ ‌ low‌ ‌ quality‌ ‌
electronics‌ ‌
 processor‌ ‌ LEGO‌‌
Raspberry‌‌ MINDSTO‌
PC‌ ‌ PI‌ ‌ RMS‌ ‌ Phone‌ ‌ hydraulic‌ ‌ solution‌ ‌
free*‌‌(user‌‌ free*‌‌(user‌‌
provided)‌ ‌ low‌ ‌ high‌ ‌ provided)‌ ‌ high‌ ‌ price‌ ‌
high‌ ‌ ‌ average‌ ‌ high‌ ‌ high‌ ‌ complexity‌ ‌
1‌ average‌ ‌ high‌ ‌ high‌ ‌ average‌ ‌ low‌ ‌ quality‌ ‌
connection‌ ‌cable‌ ‌ bluetooth‌ wifi‌ ‌ cellular‌ ‌ IR‌ ‌ solution‌ ‌
low‌ ‌ average‌ ‌ average‌ ‌ high‌ ‌ average‌ ‌ price‌ ‌
low‌ ‌ average‌ ‌ average‌ ‌ high‌ ‌ low‌ ‌ complexity‌ ‌
2‌ low‌ ‌ high‌ ‌ high‌ ‌ low‌ ‌ low‌ ‌ quality‌ ‌
space‌‌ set‌‌
awareness‌ ‌none‌ ‌ ultrasonic‌ ‌ boundaries‌ bumpers‌ ‌ lidar‌ ‌ solution‌ ‌
free‌ ‌ average‌ ‌ free‌ ‌ low‌ ‌ high‌ ‌ price‌ ‌
low‌ ‌ average‌ ‌ high‌ ‌ average‌ ‌ high‌ ‌ complexity‌ ‌
3‌ low‌ ‌ high‌ ‌ low‌ ‌ average‌ ‌ high‌ ‌ quality‌ ‌
software‌ ‌
OS‌ ‌ Raspberry‌‌
Windows‌ ‌ OS‌ ‌ RTOS‌ ‌ Debian‌ ‌ MacOS‌ ‌ solution‌ ‌
average‌ ‌ free‌ ‌ free‌ ‌ free‌ ‌ high‌ ‌ price‌ ‌
easy‌ ‌ average‌ ‌ hard‌ ‌ easy‌ ‌ easy‌ ‌ ease‌‌of‌‌use‌
1‌ high‌ ‌ high‌ ‌ average‌ ‌ high‌ ‌ high‌ ‌ quality‌ ‌
code‌‌ ASSEMBL‌
language‌ Python‌ ‌ C++‌ ‌ C‌ ‌ ER‌ ‌ Swift‌ ‌ solution‌ ‌
easy‌ ‌ average‌ ‌ easy‌ ‌ hard‌ ‌ average‌ ‌ ease‌‌of‌‌use‌
complex‌ ‌ complex‌ ‌ average‌ ‌ simple‌ ‌ complex‌ ‌ complexity‌ ‌
accessibilit‌
2‌ high‌ ‌ high‌ ‌ high‌ ‌ low‌ ‌ average‌ ‌ y‌ ‌
movement‌‌ user‌‌ looped‌‌ space‌‌ edge‌‌to‌‌
mode‌ ‌ controlled‌ ‌ tasks‌ ‌ aware‌ ‌ edge‌ ‌ hydraulic‌ ‌ solution‌ ‌
easy‌ ‌ average‌ ‌ high‌ ‌ average‌ ‌ high‌ ‌ price‌ ‌
simple‌ ‌ simple‌ ‌ complex‌ ‌ average‌ ‌ complex‌ ‌ complexity‌ ‌
3‌ average‌ ‌ low‌ ‌ high‌ ‌ average‌ ‌ inadequate‌ quality‌ ‌

4.‌‌MODEL‌‌AND‌‌SIMULATIONS‌ ‌
‌
 ‌

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5.‌‌PROTOTYPE‌‌AND‌‌EXPERIMENTAL‌‌TESTS‌ ‌

Prototype‌‌is‌‌designed‌‌using‌‌the‌‌LEGO‌‌system‌‌of‌‌blocks‌‌for‌‌convenience.‌‌Testing‌‌was‌‌not‌‌
possible‌‌due‌‌to‌‌restrictions‌ ‌

‌‌

‌‌

6.‌‌SUMMARY‌‌AND‌‌CONCLUSIONS‌‌ ‌

‌ s‌‌of‌‌now‌‌we‌‌have‌‌completed‌‌the‌‌design‌‌part‌‌of‌‌the‌‌project.‌‌We‌‌have‌‌a‌‌detailed‌‌CAD‌‌model‌‌
A
and‌‌working‌‌software.‌‌The‌‌code‌‌has‌‌proven‌‌to‌‌be‌‌the‌‌most‌‌challenging‌‌part‌‌of‌‌the‌‌project.‌‌
Without‌‌real‌‌life‌‌results‌‌it’s‌‌not‌‌possible‌‌to‌‌tune‌‌the‌‌motors‌‌and‌‌sensors.‌‌Given‌‌resources‌‌
and‌‌time‌‌it‌‌would‌‌be‌‌relatively‌‌simple‌‌to‌‌create‌‌a‌‌working‌‌model.‌‌In‌‌the‌‌future‌‌our‌‌team‌‌is‌‌
planning‌‌to‌‌create‌‌a‌‌model‌‌first‌‌from‌‌lego,‌‌and‌‌eventually‌‌from‌‌cnc‌‌machined‌‌parts‌‌for‌‌
quality.‌‌In‌‌plans‌‌are‌‌also‌‌additional‌‌operation‌‌modes‌‌to‌‌increase‌‌the‌‌usefulness‌‌of‌‌the‌‌robot.‌ ‌

7.‌‌BIBLIOGRAPHY‌‌ ‌

Similar‌‌solutions‌‌photos‌ ‌
[1]‌https://www.semanticscholar.org/paper/Design-of-the-out-pipe-type-pipe-climbing-robot-Le‌
e/c7a68a5c4f251b399b2aa85ed7e38de972b86d8b‌‌‌visited‌‌06.2021‌ ‌
[2]‌https://youtu.be/5rLiA9q4Rog‌‌‌visited‌‌6.2021‌ ‌
[3]‌https://www.semanticscholar.org/paper/Pole-climbing-robot-for-connecting-distribution-Kh‌
alid-Ahmed/6c3e49f7b4cc705cd0ddedf756809be8c47b091d‌‌‌visited‌‌6.2021‌ ‌
[4]‌http://www.romela.org/hydras-hyper-redundant-discrete-robotic-articulated-serpentine/‌‌
visited‌‌6.2021‌ ‌