Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection.
Yan, Yao; Liu, Yang; Páez Chávez, Joseph; Zonta, Florent; Yusupov, Azat
Joseph Páez Chávez
This paper studies the prototype development for the self-propelled capsule system which is driven by autogenous vibrations and impacts under external resistance forces. This project aims for proof-of-concept of its locomotion in pipeline environment in order to mitigate the technical complexities and difficulties brought by current pressure-driven pipeline inspection technologies. Non-smooth multibody dynamics is applied to describe the motion of the capsule system, and two non-smooth nonlinearities, friction and impact, are considered in modelling. The prototype of the self-propelled capsule system driven by a push-type solenoid with a periodically excited rod has been designed to verify the modelling approach. The prototype contains a microcontroller, a power supply, and a wireless control module, which has been tested in a clear uPVC pipe via remote control. Various control parameters, e.g. impact stiffness, frequency and amplitude of excitation, are studied experimentally, and finally, the fastest progression of the system is obtained.
YAN, Y, LIU, Y., PÁEZ CHÁVES, J., ZONTA, F. and YUSUPOV, A. 2018. Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection. Meccanica [online], 53(8), pages 1997-2012. Available from: https://doi.org/10.1007/s11012-017-0801-3
|Journal Article Type||Article|
|Acceptance Date||Nov 11, 2017|
|Online Publication Date||Nov 22, 2017|
|Publication Date||Jun 30, 2018|
|Deposit Date||Aug 9, 2019|
|Publicly Available Date||Aug 9, 2019|
|Peer Reviewed||Peer Reviewed|
|Keywords||Vibro-impact; Capsule system; Non-smooth dynamical system; Self-propulsion; Pipeline inspection|
YAN 2018 Proof of concept
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