Phyllot: mobile robot for piping inspection control modeling and simulation integrating solidworks®, simscape multibody®, and simulink®
Introduction: This paper presents the final results of the research project conducted at Universidad Distrital Francisco José de Caldas in 2025 on a solution for the in situ internal inspection of PIG-type industrial pipelines through the design, automation, and virtual control of a parameterized unmanned robotic vehicle, PhylloT, inspired by the Colombian poison dart frog (Phyllobates terribilis).
Problem: Inspection devices or sensing probes inserted into pipelines often operate under harsh conditions as open-loop systems with insufficient control mechanisms and incomplete feedback.
Objective: To develop a virtual robot design based on functional conditions inspired by biological behaviors adapted to the branching of circular cross-section pipelines.
Methods: The simulation model was developed, integrated, and programmed in SolidWorks®; the components and assembly were exported to Simscape Multibody® for implementation in Simulink® within MATLAB® and validated using SolidWorks® Motion.
Results: Virtual simulations maintained the parameterization of the integrated system within the SolidWorks® Motion® platform. The final control variable, represented by the position sampled through animation frames, generated linear and angular velocities, linear and angular accelerations, and linear and angular displacements.
Conclusion: Virtual design, control, and automation systems provide effective solutions by directly validating the most relevant variables involved in PIG-type pipeline inspection.
Originality: This approach integrates CAD design technologies with mathematical modeling and simulation tools through open-code implementation and the validation of individual motion parameters that influence the robot’s locomotion.
Limitations: The proposed parameterization is limited to basic spatial geometries. In addition, personnel must be trained in the use of robust computing platforms and possess prior knowledge of design and control software.
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