Estudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberías

Detalhes bibliográficos
Ano de defesa: 2017
Autor(a) principal: Marenco, Javier
Orientador(a): Perondi, Eduardo André
Banca de defesa: Não Informado pela instituição
Tipo de documento: Dissertação
Tipo de acesso: Acesso aberto
Idioma: spa
Instituição de defesa: Não Informado pela instituição
Programa de Pós-Graduação: Não Informado pela instituição
Departamento: Não Informado pela instituição
País: Não Informado pela instituição
Palavras-chave em Português:
Fricção
Tubos
Cabos (Engenharia)
Palavras-chave em Inglês:
Robot pipe inspection
In pipe robot
Euler equation for pulleys
Cable tensile forces
Palavras-chave em Espanhol:
Robot de inspección de tuberías
In pipe robot
Ecuación Euler para poleas
Cable pulling forces
Link de acesso: http://hdl.handle.net/10183/172303
Resumo: The present work makes a study of the drag forces of umbilical cables of pipes inspection robots and aims to determine a valid model for their calculation. For this purpose, the physical models are developed in relation to the friction forces for the straight and curved sections in all their possible configurations, obtaining for each case a differential equation that models the friction phenomenon and that includes fluid and cable the characteristics. By solving the differential equation, an explicit expression is obtained for the value of the frictional force in each case. In the present work, the obtained model is evaluated in comparison with the traditional simplified model. It is also presented a study about the influence of the stiffness of the cable and how this characteristic generates the forces of the normal general forces at the ends of the curves that, finally, result in an additional component of the frictional forces. By comparison with actual drag force measurements, the model obtained is validated. The complexity of the calculations required for the determination of the pull forces in real pipes makes it necessary to use software tools to facilitate it. For this reason, two software applications are developed, one specific for rigid pipes and another one for flexible pipes. A series of strategies of how to keep low the maximum value of the cable tension are presented too.
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spelling Marenco, JavierPerondi, Eduardo André2018-02-01T02:26:19Z2017http://hdl.handle.net/10183/172303001058080The present work makes a study of the drag forces of umbilical cables of pipes inspection robots and aims to determine a valid model for their calculation. For this purpose, the physical models are developed in relation to the friction forces for the straight and curved sections in all their possible configurations, obtaining for each case a differential equation that models the friction phenomenon and that includes fluid and cable the characteristics. By solving the differential equation, an explicit expression is obtained for the value of the frictional force in each case. In the present work, the obtained model is evaluated in comparison with the traditional simplified model. It is also presented a study about the influence of the stiffness of the cable and how this characteristic generates the forces of the normal general forces at the ends of the curves that, finally, result in an additional component of the frictional forces. By comparison with actual drag force measurements, the model obtained is validated. The complexity of the calculations required for the determination of the pull forces in real pipes makes it necessary to use software tools to facilitate it. For this reason, two software applications are developed, one specific for rigid pipes and another one for flexible pipes. A series of strategies of how to keep low the maximum value of the cable tension are presented too.El presente trabajo se dedica al estudio de fuerzas de arrastre de cables umbilicales de robot de inspección o desobstrucción de tuberías y tiene como objetivo la determinación de un modelo válido para el cálculo de las mismas. Para tal fin, se desarrollan los modelos físicos en relación a las fuerzas de rozamiento presentes para tramos rectos y curvas en todas sus configuraciones posibles, obteniéndose así, para cada caso, una ecuación diferencial que modela el fenómeno del rozamiento y que incluye las variables propias del fluido presente y las características pertinentes del cable. Mediante la resolución de esa ecuación diferencial, se obtiene una expresión explícita para el valor de la fuerza de rozamiento en cada caso. En el presente trabajo, el modelo obtenido es evaluado mediante comparación con el modelo simplificado tradicional de manera de ver los alcances del nuevo modelo. Se realiza también una presentación de la influencia que tiene la rigidez del cable y como esta rigidez a la flexión genera fuerzas normales adicionales en los extremos de las curvas que redundan finalmente en una componente adicional de las fuerzas de fricción. Mediante comparación con mediciones reales de fuerza de arrastre se valida el modelo obtenido Dada la complejidad de los cálculos requeridos para la determinación de las fuerzas de arrastre de tuberías reales se desarrollan dos aplicaciones de software para el cálculo de las mismas, una específica para tuberías rígidas y otra para tuberías flexibles utilizando algoritmos de cálculo basados en las ecuaciones determinadas. Son presentadas también, una serie de estrategias de forma de mantener acotado el valor máximo de la tensión de cable. Dentro de las estrategias están la elección de materiales de recubrimiento de cable que presenten un bajo coeficiente de fricción con la tubería, la adopción de cables cuyo peso específico sea tal que el peso se iguale a la fuerza de empuje y la incorporación de varios dispositivos de tracción del cable de modo de mantener bajas las contra tensiones del cable utilizando un sistema distribuido de empuje.application/pdfspaFricçãoTubosCabos (Engenharia)Robot pipe inspectionIn pipe robotEuler equation for pulleysCable tensile forcesRobot de inspección de tuberíasIn pipe robotEcuación Euler para poleasCable pulling forcesEstudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberíasinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisUniversidade Federal do Rio Grande do SulEscola de EngenhariaPrograma de Pós-Graduação em Engenharia MecânicaPorto Alegre, BR-RS2017mestradoinfo:eu-repo/semantics/openAccessreponame:Biblioteca Digital de Teses e Dissertações da UFRGSinstname:Universidade Federal do Rio Grande do Sul (UFRGS)instacron:UFRGSORIGINAL001058080.pdf001058080.pdfTexto completo (espanhol)application/pdf4136221http://www.lume.ufrgs.br/bitstream/10183/172303/1/001058080.pdffa0f46175ea506a4c67dad93765b04bdMD51TEXT001058080.pdf.txt001058080.pdf.txtExtracted Texttext/plain208990http://www.lume.ufrgs.br/bitstream/10183/172303/2/001058080.pdf.txt4ddfc15e4df1c4c9fc2edb1f52af4f45MD52THUMBNAIL001058080.pdf.jpg001058080.pdf.jpgGenerated Thumbnailimage/jpeg1068http://www.lume.ufrgs.br/bitstream/10183/172303/3/001058080.pdf.jpge80a1bd615ae4e96682ae3bc250cd709MD5310183/1723032021-05-26 04:41:01.357364oai:www.lume.ufrgs.br:10183/172303Biblioteca Digital de Teses e Dissertaçõeshttps://lume.ufrgs.br/handle/10183/2PUBhttps://lume.ufrgs.br/oai/requestlume@ufrgs.br||lume@ufrgs.bropendoar:18532021-05-26T07:41:01Biblioteca Digital de Teses e Dissertações da UFRGS - Universidade Federal do Rio Grande do Sul (UFRGS)false
dc.title.pt_BR.fl_str_mv Estudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberías
title Estudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberías
spellingShingle Estudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberías
Marenco, Javier
Fricção
Tubos
Cabos (Engenharia)
Robot pipe inspection
In pipe robot
Euler equation for pulleys
Cable tensile forces
Robot de inspección de tuberías
In pipe robot
Ecuación Euler para poleas
Cable pulling forces
title_short Estudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberías
title_full Estudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberías
title_fullStr Estudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberías
title_full_unstemmed Estudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberías
title_sort Estudio de las fuerzas de arrastre de cables umbilicales de robots de inspección o desobstrucción de tuberías
author Marenco, Javier
author_facet Marenco, Javier
author_role author
dc.contributor.author.fl_str_mv Marenco, Javier
dc.contributor.advisor1.fl_str_mv Perondi, Eduardo André
contributor_str_mv Perondi, Eduardo André
dc.subject.por.fl_str_mv Fricção
Tubos
Cabos (Engenharia)
topic Fricção
Tubos
Cabos (Engenharia)
Robot pipe inspection
In pipe robot
Euler equation for pulleys
Cable tensile forces
Robot de inspección de tuberías
In pipe robot
Ecuación Euler para poleas
Cable pulling forces
dc.subject.eng.fl_str_mv Robot pipe inspection
In pipe robot
Euler equation for pulleys
Cable tensile forces
dc.subject.spa.fl_str_mv Robot de inspección de tuberías
In pipe robot
Ecuación Euler para poleas
Cable pulling forces
description The present work makes a study of the drag forces of umbilical cables of pipes inspection robots and aims to determine a valid model for their calculation. For this purpose, the physical models are developed in relation to the friction forces for the straight and curved sections in all their possible configurations, obtaining for each case a differential equation that models the friction phenomenon and that includes fluid and cable the characteristics. By solving the differential equation, an explicit expression is obtained for the value of the frictional force in each case. In the present work, the obtained model is evaluated in comparison with the traditional simplified model. It is also presented a study about the influence of the stiffness of the cable and how this characteristic generates the forces of the normal general forces at the ends of the curves that, finally, result in an additional component of the frictional forces. By comparison with actual drag force measurements, the model obtained is validated. The complexity of the calculations required for the determination of the pull forces in real pipes makes it necessary to use software tools to facilitate it. For this reason, two software applications are developed, one specific for rigid pipes and another one for flexible pipes. A series of strategies of how to keep low the maximum value of the cable tension are presented too.
publishDate 2017
dc.date.issued.fl_str_mv 2017
dc.date.accessioned.fl_str_mv 2018-02-01T02:26:19Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
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dc.identifier.uri.fl_str_mv http://hdl.handle.net/10183/172303
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