{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T17:53:55Z","timestamp":1770832435711,"version":"3.50.1"},"reference-count":30,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2010,5,3]],"date-time":"2010-05-03T00:00:00Z","timestamp":1272844800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010,5,3]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to describe design and development of a pole climbing robot (PCR) for inspection of industrial size pipelines. Nowadays, non\u2010destructive testing (NDT) methods are performed by dextrous technicians across high\u2010level pipes, frequently carrying dangerous chemicals. This paper reports development of a PCR that can perform<jats:italic>in situ<\/jats:italic>manipulation for NDT tests.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>Introduces a PCR including a novel four\u2010degrees of freedom climbing serial mechanism with the nearly optimal workspace and weight, unique V\u2010shaped grippers and a fast rotational mechanism around the pole axis. Simplicity, safety, minimum weight, and manipulability were concerned in the design process.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The developed prototype proved possibility of application of PCRs for NDT inspection on elevated structures. Design and development of PCRs which are able to pass bends and T\u2010junctions faces much more difficulties than those which should climb from a straight pole.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The robot is successfully tested on an industrial size structure (exterior diameter of 219\u2009mm) with bends and T\u2010junctions.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Design and development of a novel pole climbing and manipulating robot for inspection of industrial size pipelines. The robot is able to pass bends and T\u2010junctions. The V\u2010shaped grippers offer many advantages including safety and tolerance to power failure. After grasping the structure, in case of power failure in any of the grippers' motors, the robot does not slip on the structure. The<jats:italic>Z<\/jats:italic>\u2010axis rotational mechanism provides fast navigation around the pole which is not possible with the traditional serial articulated arms.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911011037721","type":"journal-article","created":{"date-parts":[[2010,5,1]],"date-time":"2010-05-01T07:02:48Z","timestamp":1272697368000},"page":"309-322","source":"Crossref","is-referenced-by-count":50,"title":["Development of an industrial pipeline inspection robot"],"prefix":"10.1108","volume":"37","author":[{"given":"Mahmoud","family":"Tavakoli","sequence":"first","affiliation":[]},{"given":"Lino","family":"Marques","sequence":"additional","affiliation":[]},{"given":"An\u00edbal T.","family":"de Almeida","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022021519573540200_b1","doi-asserted-by":"crossref","unstructured":"Almonacid, M., Saltaren, R., Aracil, R. and Reinoso, O. 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