Robot Engineering Implementation for Monitoring Small-Diameter Pipelines

摘要

Background/Objectives: The developed NDT method requires measuring sensor motion along the pipe and around its circumference. This article focuses on determining the design a robotic device for sensor delivery and motion in pipelines. Methods/Statistical Analysis: The review of the existing control systems, examined design concepts, advantages and disadvantages enabled to develop a robotic device considering the following: • It shall consist of several modules interconnected by hinge joints • Secure traction of the robotic device requires expanding modules in the pipe and determines the use of three tracking mechanisms for motion unit. • The \