Final_PipeInspectionRobot_Presentation_Ch1_to_Ch7.pptx
- 1. PIPE INSPECTION ROBOT FOR OIL INDUSTRY Summary Presentation from Final Project Report Chapters 1 to 7 ASWINKUMAR V, JOHNSON PREM B,
- 2. Chapter 1: Introduction • Overview of pipeline inspection challenges and robotic solutions.
- 3. Background of Pipeline Inspection • Pipelines face corrosion and damage; underground pipes are hard to access.
- 4. Existing Solutions • PIGs and ultrasonic sensors used externally; internal robots offer better access.
- 5. Pipe Crawling Robots • Robots can inspect varied pipe geometries: wheeled, inchworm, crawler, etc.
- 6. Problem Statement • External inspection is costly; internal robot solution needed for efficient inspection.
- 7. Project Objectives • Design, simulate, and analyze a pipe crawling robot for 6–10 inch pipelines.
- 8. Scope of Study • Focus on mechanical design, driving mechanism, and adaptability.
- 9. Chapter 2: Literature Review • Analysis of previous designs: wheeled, inchworm, snake, and MRINSPECT types.
- 10. Robot Classification • Types: Pig, wheel, inchworm, screw, caterpillar, wall-press, legged.
- 11. MRINSPECT Series • Robots use slider-crank and pantograph mechanisms for flexibility.
- 12. Tilted-Wheel and Inchworm Designs • Innovative mobility strategies for bends and different diameters.
- 13. Design Constraints • Pipe geometry, elbow navigation, diameter adaptation, and compactness.
- 14. Chapter 3: Methodology • Step-by-step: literature review, design, CAD modeling, simulation.
- 15. Robot Design Parameters • Key specs: height 6-10 inches, wheeled legs spaced 120°, spring-based adaptation.
- 16. Simulation Setup • Simulated in ADAMS software; observed velocity, spring force, and deformation.
- 17. Chapter 4: Results & Discussion • Robot operates effectively in 6” to 10” pipes. Stable under simulation.
- 18. Velocity and Spring Results • Max speed: 3.3 m/s; spring compression correlates with pipe diameter.
- 19. Joint Forces Analysis • Stress increases during pipe transitions; critical forces observed on front/rear joints.
- 20. Spring Force & Pressing Force • Calculated using Hooke’s law and link displacement formulas.
- 21. CAD Model Overview • Robot modelled in AutoCAD; adapts to different pipe diameters.
- 22. Chapter 5: Robot Parts • Includes DC motors, wheels, steel frame, springs, control unit, and camera.
- 23. Chapter 6: Cost Estimation • Total cost estimated: ₹12,420 • Includes all essential mechanical and electronic components.
- 24. Chapter 7: Conclusion • Robot meets all objectives: compact, stable, adaptable. Ready for field testing.
- 25. Future Enhancements • Improvements: add AI, multiple sensors, autonomous navigation, field trials.
- 26. Project Summary • A functional in-pipe robot designed for oil industry inspection applications.