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http://dx.doi.org/10.14775/ksmpe.2021.20.02.058

Development of Pipe Robot by Using Mecanum Wheels  

Kim, Daeyoung (Samsung Heavy Industries)
Park, Soonwook (Samsung Heavy Industries)
Lee, Hojoong (Samsung Heavy Industries)
Kim, Jongpil (Samsung Heavy Industries)
Chung, Wonji (Changwon National University)
Kwak, Dohoon (Changwon National University)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.20, no.2, 2021 , pp. 58-65 More about this Journal
Abstract
Most pipe-inspection robots have fixed sizes and use a wired cable system. Pipelines are generally composed of various structures, including bent pipes, vertical pipes, branch pipes, and holes, and it is difficult to explore the insides of such modular piping structures. In an offshore plant pipeline, a robot that can pass through the pipe hole in the downward direction or avoid obstacles, such as a measuring instruments, has not been introduced yet. In this study, an inspection robot that can travel through most pipelines in offshore plants is proposed. This robot uses mecanum wheels; upward, downward, and rotary motion; and a novel rotatable mechanism. Moreover, the robot is designed to be compact and lightweight to include additional devices in the middle.
Keywords
Pipe Robot; Mecanum Wheels; Inspection;
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