Transport modulus of in-pipe diagnostic robot

Transport modulus of in-pipe diagnostic robot

Aleksey I. Pryadko
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Leading Designer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it.

Nikolay V. Pavlov
RTC, Leading Engineer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77; Saint Petersburg Electrotechical University «LETI» (ETU), Assistant, 5, Professora Popova ul., Saint Petersburg, 197022, Russia, tel.: +7(812)234-46-51, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-6591-8419

Dmitrii S. Popov
RTC, Head of the Design Bureau, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-4575-9195

Aleksey L. Korotkov
RTC, Head of Department; 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it.

Evgeniy I. Hokkonen
RTC, Head of Sector, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it.

Vladislav A. Volkov
RTC, Designer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it.

Danila D. Filippov
RTC, Designer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it.

Andrey A. Kadrov
Kalashnikov Izhevsk State Technical University (KISTU), Graduate Student, 7, Studencheskaya ul., Izhevsk, 426069, Udmurt Republic, Russia, tel.: +7(922)680-61-00, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received June 30, 2023

Abstract
The paper presents the transport modulus design of an in-pipe diagnostic robot. The transport module is based on two load-bearing platforms with three radially mounted support legs with independent drive wheel engines. The proposed design solves the problem of increasing the mobility of the robot through technical solutions that ensure operation in pipes of complex configurations and various diameters and increase the length of the section inspected in one pass. The algorithm of operation of the transport module is described when it is brought into working position, moves along the pipe, passes between pipes of different diameters, passes bends, inclined sections and adapters.

Key words
In-pipe inspection system, mobile robotic platform, hybrid locomotion.

Acknowledgements
The work was carried out within the framework of R&D carried out by the Russian State Scientific Center for Robotics and Technical Cybernetics in the implementation of a comprehensive project to create a high-tech production «Development of a robotic diagnostic complex for in-line inspection of pipelines» with financial support from the Ministry of Science and Higher Education of the Russian Federation; subsidy agreement No. 075-11-2022-035.

DOI
10.31776/RTCJ.11308

Bibliographic description
Pryadko, A.I. et al. (2023). "Transport modulus of in-pipe diagnostic robot". Robotics and Technical Cybernetics, vol. 11, no. 3, pp. 224-231, DOI: 10.31776/RTCJ.11308. (in Russian).

UDC identifier:
007.52:62-932.2

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