Redundant-robot-based painting system for variable cross-section S-shape pipe

It is very important to research and develop robot-based painting system for variable cross-section S-shape pipe because painting this pipe automatically by robot can save workers from a hostile environment, improve coating quality, reduce coating material wastes and heighten efficiency and production. This paper presents an on-going research and development of a special in-pipe robot system - redundant-robot-based painting system for variable cross-section S-shape pipe (RRPS). The robotic redundancy is used to manoeuvre in the congested workspace and avoid collisions with the pipe wall in this project. This novel system can automatically navigate and paint in the rectangular-to-circular transition pipe whose axis twists and turns slightly, and also can be used for hazardous waste handling, inspection of dangerous environments, pipe inspecting and cleaning, among other uses. The RRPS is composed of three subsystems: a chassis, a positioning base, and a redundant painting manipulator. Spray process requirement and collision-free motion planning are discussed in details.