Mathematical Analysis & Simulation for Designing Two Dimensional Out Pipe Crawler for Oil Industry

摘要

Robotics always used to have an extraordinary contribution into multiple parts of operations in process industries such as oil and gas industries, the one presently discussed in this research paper deals with the mathematical analysis and real-time replication model of out pipe crawler robot used for thickness measurement of ferromagnetic pipelines in petrochemical plants and refineries. The aim of this paper is to evaluate and simulate the movement of the robot in a 2-dimensional plane over a black track motif as a pipeline line which infers the effect of real-time simulation prototype model. The analysis presented in this paper is very useful in developing a mathematical model and crafting a prototype of wheelbase mobile robot to traverse over an uneven surface of ferromagnetic pipelines with the help of an array of IR sensors used for estimation of the thickness of pipes.