چكيده به لاتين
One of the most important, strategic energy resoureces, petroleum and gas are mainly transferred through pipelines which length are as long as million kilometers. Among different challenges related to these pipelines, corrosion and as a result the leakage of pipelines are very serious that the consequence can be somewhat dire as well as pernicious.
Prevention is better than cure. Having this statement in mind, monitoring the lines can be an effective way to prevent leakage. When it comes to monitoring, using specialized robots, nowadays, are very common. In this thesis a robot has been designed and studied. This robot has three specifications which makes it unique. First, it uses the fluid energy in order to move, which makes it possible for the robot to go through longer pipelines with much less battery life needed. Second, this robot enjoyes a heading, enables it to choose desired direction facing a branched line. And at last, this robot is designed in a way that can be used with pipelines with the diameter of 14-20 cm.
Firstly the robot was designed in Solidworks softwear,and then Adams software was used to study the motion of the robot facing three different obstacles, namely 3-way, reducer and elbow pipes. The designed robot was able to pass through the mentioned obstacles. This study provided us with the maximum force which was exerted on the most fragile part of the robot. Then, this maximum force was used in a stress analysis on the part. The result of this analysis showed that the design safty factor was around 10, which indeed is sufficient enough.
Keywords: Pipelines, Pig robots, Monitoring, Wall-press robot
