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

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.

Copyright © 2019 by ASME
Your Session has timed out. Please sign back in to continue.


Bai, Y., and Bai, Q., 2010, Subsea Structural Engineering Handbook, Elsevier, New York.
Li, X., 2008, “Hydrate Plugs—Still a MajorFlow Assurance Challenge,” Tekna Gas Hydrate Seminar, Trondheim, Norway.
Cardoso, C. A. B. R., Gonçalves, M. A. L., and Camargo, R. M. T., 2015, “Design Options for Avoiding Hydrates in Deep Offshore Production,” J. Chem. Eng. Data, 60(2), pp. 330–335. [CrossRef]
Brustad, S., Loken, K. P., and Wallmann, J. G., 2005, “Hydrate Prevention Using MEG Instead of MeOH: Impact of Experience from Major Norwegian Developments on Technology Selection for Injection and Recovery of MEG,” Offshore Technology Conference, Houston, TX.
Azis, F. A., Aras, M. S. M., Rashid, M. Z. A., Othman, M. N., and Abdullah, S. S., 2012, “Problem Identification for Underwater Remotely Operated Vehicle (ROV): A Case Study,” Eng. Procedia, 41, pp. 554–560. [CrossRef]
Christ, R. D., and Wernli, R. L., Sr., 2013, The ROV Manual: A User Guide for Remotely Operated Vehicles, 2nd ed., Butterworth-Heinemann, Oxford, UK.
Witz, J. A., and Tan, Z., 1992, “On the Flexural Structural Behaviour of Flexible Pipes, Umbilicals and Marine Cables,” Mar. Struct., 5, pp. 229–249. [CrossRef]
Provasi, R., and Martins, C. R., 2014, “A Three-Dimensional Curved Beam Element for Helical Components Modelling,” ASME J. Offshore Mech. Arct. Eng., 136(4), p. 041601. [CrossRef]
Lu, Q., Yang, Z., Yan, J., Lu, H., Chen, J., and Yue, Q., 2017, “A Finite Element Model for Prediction of the Bending Stress of Umbilicals,” ASME J. Offshore Mech. Arct. Eng., 139(6), p. 061302. [CrossRef]
Vaz, M. A., Aguiar, L. A. D., and Estefen, S. F., 1998, “Experimental Determination of Axial, Torsional and Bending Stiffness of Umbilical Cables,” Proceeding of the 17th International Conference on Offshore Mechanics and Arctic Engineer, Lisbon.
Jung, J. H., Pan, N., and Kang, T. J., 2008, “Capstan Equation Including Bending Rigidity and Non-Linear Frictional Behavior,” Mech. Mach. Theory, 43, pp. 661–675. [CrossRef]
Jung, J. H., Pan, N., and Kang, T. J., 2008, “Generalized Capstan Problem: Bending Rigidity, Nonlinear Friction, and Extensibility Effect,” Int. Tribol., 41, pp. 524–534. [CrossRef]
Gao, X., Wang, L., and Hao, X., 2015, “An Improved Capstan Equation Including Power-Law Friction and Bending Rigidity for High-Performance Yarn,” Mech. Mach. Theory, 90, pp. 84–94. [CrossRef]
Rifenburg, R. C., 1953, “Pipe-Line Design for Pipe-Type Feeders,” Trans. Am. Inst. Electr. Eng. Part III Power App. Syst. 72(2), pp. 1275–1288.
Yang, C. J., Hong, D. F., Ren, G. X., and Zhao, Z. H., 2013, “Cable Installation Simulation by Using a Multibody Dynamic Model,” Multibody Syst. Dyn., 30(4), pp. 433–447. [CrossRef]
MATLAB R. version (R2012b), 2012, The MathWorks Inc., Natick, MA.
Cleveland, W. S., 1979, “Robust Locally Weighted Regression and Smoothing Scatterplots,” J. Am. Stat. Assoc., 74(368), pp. 829–836. [CrossRef]


Grahic Jump Location
Fig. 1

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

Grahic Jump Location
Fig. 2

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

Grahic Jump Location
Fig. 3

Pipeline cross section for a generic curve

Grahic Jump Location
Fig. 4

Representation of the four different positions considered for nonhorizontal curves

Grahic Jump Location
Fig. 5

Interface of the software developed

Grahic Jump Location
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

Grahic Jump Location
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)

Grahic Jump Location
Fig. 8

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



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In