Novel Robotic Tools for Piping Inspection and Repair
Abstract
Electromechanica, Inc. designed, fabricated and evaluated a proof of concept robotic tool for in situ inspection and remediation of fleet piping. The robotic tool is based on pneumatically actuated peristaltic motion. This in-pipe motion is accomplished by the use of inflatable pneumatic annular grippers in concert with a novel flexible pneumatic linear actuator capable. This linear actuator is capable of actuation while bent to conform to the contours of a piping system. The flexible linear actuator allows the robot to move through bends that would otherwise be inaccessible with conventional rigid actuators. The robot was designed and demonstrated to negotiate a nominal 3 in. (76 mm) ID pipe.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 14, 2015
- Accession Number
- ADA616025
Entities
People
- Andrew Demedeiros
- Karl Edminster
- Ruben Medeiros