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Electromagnetic Coil Gripping Method External Pipe Crawling Inchworm Motion Intelligent Inspection Robot

A. P. koventhan, Vamsi Krishna Dommeti
Source: A. P. koventhan, Vamsi Krishna Dommeti, "Electromagnetic Coil Gripping Method External Pipe Crawling Inchworm Motion Intelligent Inspection Robot,” Journal of Mechanical Engineering Research and Developments, vol. 40, no. 3, pp. 440-450, 2017. 
 
Document Type: Research Article

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Abstract: The conventional method of gripping the pipe externally using wheels have slipped during motion over the smooth surface. Due to external environment factors like air friction, temperature, humidity, moisture can affect the pipe, so it is necessary to inspect the pipe external using NDT method for the surface crack using ultrasonic sensor and values had mapped based on position and time. So gripping of pipe using electromagnetic field coil generating magnetic flux were used for crawling motion through inchworm motion with obstacle detection using an infrared sensor, movement through linear drive dc motor. The mapped values have processed for the analysis with predetermined limited value and automated intelligent inspection using a raspberry pi controller.

Keywords: Arduino; Electromagnetic Coil; External pipe inspection; Inchworm motion; Infrared sensor; NDT; Pipe crawling; Python; Raspberry Pi; Surface crack; Ultrasonic sensor.