Accession Number:

ADA616025

Title:

Novel Robotic Tools for Piping Inspection and Repair

Descriptive Note:

Final rept. 1 Jan-31 Dec 2014

Corporate Author:

ELECTROMECHANICA INC MATTAPOISETT MA

Personal Author(s):

• Edminster, Karl
• DeMedeiros, Andrew
• Medeiros, Ruben

Report Date:

2015-01-14

Pagination or Media Count:

59.0

Abstract:

Electromechanica, Inc. designed, fabricated and evaluated a proof of concept robotic tool for in situ inspection and remediation of fleet piping. The robotic tool is based on pneumatically actuated peristaltic motion. This in-pipe motion is accomplished by the use of inflatable pneumatic annular grippers in concert with a novel flexible pneumatic linear actuator capable. This linear actuator is capable of actuation while bent to conform to the contours of a piping system. The flexible linear actuator allows the robot to move through bends that would otherwise be inaccessible with conventional rigid actuators. The robot was designed and demonstrated to negotiate a nominal 3 in. 76 mm ID pipe.

Descriptors:

• *FLEETS(SHIPS)
• *PIPING SYSTEMS
• *PNEUMATIC ACTUATORS
• *ROBOTICS
• *VISUAL INSPECTION
• COMPUTER PROGRAMS
• ELECTRONICS
• IN SITU ANALYSIS
• MAINTENANCE
• MAINTENANCE EQUIPMENT
• MECHANICS
• PIPES

Subject Categories:

• Cybernetics
• Hydraulic and Pneumatic Equipment
• Manufacturing and Industrial Engineering and Control of Production Systems
• Marine Engineering
• Pumps, Filters, Pipes, Tubing, Fittings and Valves

Distribution Statement:

APPROVED FOR PUBLIC RELEASE