Abstract

Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, we have to remove the impurities which are stuck to the inner face of the pipe (diameter: 300mm or 400mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), we will propose an in-pipe cleaning robot of GACF with the 6-link sliding mechanism which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300mm. In addition, for the pipe with diameter of 400mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn® when the link of sliding mechanism is stretched to fit into the 400mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS® Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has t- – he best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.

How Multibody Dynamics Simulation Technology is Used

RecurDyn was used to simulate the operation of an in-pipe cleaning robot. The maximum impulsive force of collision between the robot and the inner face of pipe is extracted from RecurDyn for further analysis in ANSYS. RecurDyn simulations were able to determine useful boundary conditions for detailed FEA that otherwise would have had to rely on experimental data or educated guesses.

Get This Paper

• http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5985854&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D5985854

Related Case Studies

• Quadruped robot crawl gait planning based on DST
• Quadruped robot gait planning with stair environment constraints
• Obtaining Contact Parameters for MBDS of a Wheelless Snake Robot
• Locomotion of snake-like robots using adaptive neural oscillators