Multi-body Dynamics Experimental Analysis for Non-Destructive Inspection Robot in Water Main Pipe

摘要

The non-destructive inspection using magnetic leakage method is suitable for inspection of the pipe having high magnetic permeability. In this paper, we introduce the development and experimental analysis of a robot that performs non-destructive precision inspection of structural condition inside the water supply pipe. The operation algorithm of the robots is proposed to consider simulation environment, modeling, contact mechanics, and friction force along the water pipe. Multi-body dynamics experimental analysis was conducted based on the simplified kinematic model. Numerical simulation and experimental analysis have been performed to verify the proposed operation method of the robot in the pipe. As a result, structural defect in the water pipe was detected using the defect analysis algorithm based on the sensor signal measured by the proposed inspection robot.