Design & Fabrication of Pipe Cleaning Robot - Free Final Year Project's

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Sep 16, 2017

Design & Fabrication of Pipe Cleaning Robot

This is a Mechanical engineering final year project on "design and fabrication of pipe cleaning robot", but Electronics student can also use it for their final year project. The main aim of this project is on the practical aspects of design, prototyping, and testing of a compact, a compliant external pipe-crawling robot that can inspect a closely spaced bundle of pipes in hazardous environments and areas that are in-accessible to humans. You can also Subscribe to FINAL YEAR PROJECT'S by Email for more such projects and seminar.

Design and Fabrication of Pipe Cleaning Robot

The "pipe cleaning robot" consists of 2 radially usable compliant ring actuators that are attached to each other along the longitudinal axis of the pipe by a bi-directional linear actuator. The robot imitates the motion of an inchworm. The novel aspect of the compliant ring actuator is a spring-steel compliant mechanism that converts circumferential motion to radial motion of its multiple gripping pads.

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Circumferential motion to ring actuators is given by 2 alloy wires that are guided by insulating rollers. The design of the adaptable mechanism is derived from a radially deployable mechanism. A very special feature of this design is that the compliant mechanism provides the necessary kinematic function within the limited annular space around the pipe and serves as the bias spring for the alloy wires.

Pipe Cleaning Robot

The robot has a control circuit that sequentially activates the alloy wires and the linear actuator; it also controls the crawling speed. The robot has been fabricated, tested, and automated. Its crawling speed is about 45 mm/min, and the weight is about 3 kg. It fits within an annular space of a radial span of 15 mm to crawl on a pipe of 203-mm outer diameter.


The future work is two-fold:developing a Hardware-In-the-Loop (HIL) simulation system, to control the motion of the robot when located in an empty pipe (or duct) in a dry lab where a motorized flow simulator, mechanically connected to the robot crawler via a force coupling device, will be employed to simulate the effect of hydrodynamic forces exerted on the robot as it was moving inside a live pipe, and using a force/vision haptic interface for HITL control.

This project report on "pipe cleaning robot", contains all the information you needed to build this project yourself like, block diagram, working principle, images of the actual project, component description, working, etc. Thanks to the author of this project. Use this for your reference and study work.

Author:- Dheeraj Bhandari, Ajay Kumar Jaiswal, Deepak Chaurasia, Devesh Mishra



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