Development of a Multi-Body Autonomous Inspection Robot for Small Diameter Pipes

Abstract

The most common way to transport oil and natural gas in Canada is by using pipes. In the last years, population growth has led to an increase in the pipeline network. This increase will generate new areas of research such as the detection of leakages or cracks and the maintenance of the pipeline system as a whole.

In this thesis, a novel hypermobile robot, capable of moving along pipes of different diameters, is proposed and developed. The robot is composed of three modules, two propulsive modules and one control module linked by passive joints. The propulsive module has eight actuators: four gearmotors to propel the robot along the pipe, and four servomotors to control the radial position of the robot in the pipe and to maintain the robot's balance. A Raspberry Pi is used to control the actuators, acquire sensor feedback, and receive commands from a remote wireless user-controlled GUI.

An existing dynamic controller is adapted to the robot's architecture. Simulations and experimental tests in open-loop and closed-loop modes are performed to evaluate the effectiveness of the robot's design and controller. The results show the efficiency of the mechanical and electronic components of the robot since it is capable of following the generated paths. The outcome of this thesis can be used in trajectory tracking controllers and for in-pipe robot design.