Modeling of the in-pipe inspection robot: a comprehensive review

Shaikh Salim, Sheikh Ahmad Zaki and Mohd Yakub, Mohd Fitri and Ab Rashid, Mohd Zamzuri and Syed Mohd Putra, Sharifah Munawwarah and Roslan, Shairatul Akma and Mamat, Normaisharah M. (2020) Modeling of the in-pipe inspection robot: a comprehensive review. Ocean Engineering, 203. pp. 1-22. ISSN 0029-8018

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Abstract

The in-pipe inspection robotic system is crucial in examining the inside of a pipe without compromising its structural safety. The in-pipe inspection robotic system is a promising alternative to conventional methods of xray inspection and visual inspection. Despite the ongoing investigation, the effectiveness of the in-pipe inspection robotic system, particularly regarding the mathematical modeling of the system design, still needs to be improved. The in-pipe inspection robot which is normally equipped with a camera or non-destructive testing (NDT) equipment moves inside the pipeline to conduct a pipe integrity assessment. The main problem during an inspection is the restricted maneuverability of the robot due to geometric changes in the pipe. This can be overcome by designing a proper mathematical model to develop an effective inspection robotic system. Therefore, this paper provides a systematic review of different modeling types of the in-pipe inspection robotic systems, including the assessment of the kinematic and dynamic mathematical models for the system. This review paper covers in-pipe inspection robotic systems with several driving mechanisms such as fluid-driven, wheeled mobile drive (WMD), screw or helical drive, legged and biomimetic drives.

Item Type:	Article
Uncontrolled Keywords:	In-Pipe Inspection, Robot, Kinematic, Dynamic, Modeling, Review
Divisions:	Faculty of Electrical Engineering > Department of Mechatronics Engineering
Depositing User:	Norfaradilla Idayu Ab. Ghafar
Date Deposited:	12 May 2022 11:38
Last Modified:	12 May 2022 11:38
URI:	http://eprints.utem.edu.my/id/eprint/24974
Statistic Details:	View Download Statistic

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