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Technical Brief

Analytical and Experimental Analysis of Static Friction Forces of Moving Cables Inside Curved Pipes

[+] Author and Article Information
Eduardo A. W. de Menezes

Department of Mechanical Engineering,
Federal University of Rio Grande do Sul (UFRGS),
Rua Sarmento Leite, 425,
90050-170 Porto Alegre, RS, Brazil
e-mail: eduardo.menezes@ufrgs.br

Filipe P. Geiger

Department of Mechanical Engineering,
Federal University of Rio Grande do Sul (UFRGS),
Rua Sarmento Leite, 425,
90050-170 Porto Alegre, RS, Brazil
e-mail: filipe.geiger@ufrgs.br

Eduardo A. Perondi

Department of Mechanical Engineering,
Federal University of Rio Grande do Sul (UFRGS),
Rua Sarmento Leite, 425,
90050-170 Porto Alegre, RS, Brazil
e-mail: eduardo.perondi@ufrgs.br

Javier M. Fernández

Department of Industrial and Mechanical Engineering,
Universidad de la Republica,
Calle Vicenza, 3030,
12200 Montevideo, Uruguay
e-mail: jmarenco1977@gmail.com

Hugo F. L. Santos

Petrobras,
Av. Horácio Macedo, 950,
21941-970 Rio de Janeiro/RJ, Brazil
e-mail: h.santos@petrobras.com.br

Contributed by the Ocean, Offshore, and Arctic Engineering Division of ASME for publication in the Journal of Offshore Mechanics and Arctic Engineering; Manuscript received June 6, 2018; final manuscript received February 11, 2019; published online March 12, 2019. Assoc. Editor: Theodoro Antoun Netto.

J. Offshore Mech. Arct. Eng 141(6), 064502 (Mar 12, 2019) (6 pages) Paper No: OMAE-18-1068; doi: 10.1115/1.4042945 History: Received June 06, 2018; Accepted February 11, 2019

In-pipe robots are a powerful tool for hydrate plug removal inside ultradeepwater pipes. Most of these robots operate with the energy supplied by umbilical cables. The present work focuses on the development of a general strategy for computing the required forces for pulling such cables confined in ducts of generic length and geometry. Based on classical mathematical models applied in cable friction evaluation, a new equation set was developed and implemented in a computational algorithm designed to evaluate the static friction force related to the cumulative effects along the arbitrary set of curves present in a generic pipe. Therefore, the proposed computational routine can calculate the static friction forces associated with a cable inside a given pipe, whose coordinates are fed by the user. To evaluate the simulation performance, the achieved results were compared with the data obtained through experimental tests performed using a cable with polymeric coating positioned inside ducts. Different geometries, loads, and lubricating conditions were tested, and the analytical model could suitably estimate the required force to move an umbilical cable inside pipes.

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Figures

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Fig. 1

(a) Straight and (b) curved segment lying in the XY plane

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Fig. 2

Free-body diagram of a cable differential element on a vertical curve

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Fig. 3

Pipeline cross section for a generic curve

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Fig. 4

Representation of the four different positions considered for nonhorizontal curves

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Fig. 5

Interface of the software developed

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Fig. 6

Comparison between the dragging force for straight (a) and curve (b) geometries considering the original path, a noise addicted path, and the noise addicted after applying the smooth algorithm

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Fig. 7

Cable inserted on the ducts (a), electric motor and frequency changer applied to pull the cable (b), a load cell to measure the dragging force (c), and the HMI sensor for data acquisition (d)

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Fig. 8

Straight (a) and curved (b) ducts and the storing reservoirs (c)

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