Abstract:
The focus of this paper is on the practical aspects of design, prototyping, and testing of a compact, compliant external pipe-crawling robot that can inspect a closely spaced bundle of
pipes in hazardous environments and areas that are inaccessible to humans. The robot consists of two radially deployable compliant ring actuators that are attached to each other along the longitudinal axis of the pipe by a bidirectional 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. Circumferential motion to ring actuators is provided by two shape memory alloy (SMA) wires that are guided by insulating rollers. The design of the compliant mechanism is derived from a radially deployable mechanism. A unique feature of the 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 SMA wires.
Existing System:
In this existing system, we have the wired control section for operating the pipe crawling robot, So we can’t use very long distance. In the proposed system, we rectify that problem.
Proposed System: The proposed system uses the At89c51 microcontroller. The robot controlling part fully based on wireless protocol Zigbee. Using from PC we are giving the commands for robot operating purpose. The crack sensor is using to detecting the damaging part in the pipe, the ADC section using to converting the analog input to digital. The damaging details are updating in PC itself. LCD using to display the current process what is going on. PIC 16f877a is using to doing the operation very fast.