This thesis presents a study on the optimization of friction pads, centered around a custom friction setup designed to enhance the operational efficiency of tube inspection robots. By surface texturing of Polydimethylsiloxane (PDMS) pads, inspired by the remarkable design of lizards' toes, this research pioneers the development of friction pads aimed at significantly elevating the adaptability and effectiveness of robotic systems in the challenging domain of industrial tube inspection. A cornerstone of this study is the novel friction setup, which has been carefully engineered to simulate real-world operational conditions with high precision. This custom-built apparatus, capable of exerting variable normal loads and accommodating diverse surface textures on curved pipe surfaces, has been instrumental in uncovering the intricate behavior of friction pads. Notably, the setup's capacity to measure forces on curved surfaces with a 6-axis load cell, providing critical insights into frictional forces in multiple directions, stands out as a pivotal contribution to the field. Through exhaustive experimentation facilitated by this advanced friction setup, the research has demonstrated that the design and texture of PDMS pads, particularly those featuring triangular grooves at a depth of 1 mm, markedly influence their frictional performance. These pads exhibit superior traction, especially under higher loads and on corroded surfaces, underscoring the importance of angular groove geometries in enhancing mechanical interlocking with surface irregularities. The inverse relationship observed between the coefficient of friction and applied normal force across various textures further highlights the nuanced mechanical behavior of PDMS friction pads under stress, accentuating the critical role of the custom friction setup in enabling these discoveries. This insight necessitates a refined approach to load application, ensuring optimal frictional engagement. This thesis not only advances the understanding of PDMS pad frictional behavior but also introduces a new frictional device testing method through its innovative friction setup. Future explorations will build on this foundation, probing the effects of different PDMS compositions, surface treatments, and environmental conditions on frictional performance, propelled by the capabilities of the custom friction setup.

As industries advance and automation becomes more prevalent, it is vital that safety remains at the forefront of discussions. To support this, Risk Management standards have been developed and adopted for both North American and International markets. Additionally, technical documents have been published to streamline risk management processes. Part of these emerging technologies includes Collaborative robots, each with specific methods tailored to their capabilities. These standards offer guidance not only to end-users but also to Robot manufacturers, ensuring adherence to safety standards and providing methods for risk mitigation. The risk levels and categories are organized in a hierarchical structure, ranging from the most severe to negligible. Under these standards, the process involves identifying risks, mitigating them, validating the mitigation through verification, and solidifying the results. As technologies continue to evolve, it is essential for standards to evolve accordingly to ensure optimal safety levels when implemented correctly. Having effective risk management in place for all Industrial Robot Systems is paramount to reduce liability and protect both operators and assets. Detail key standards are that govern the realm of industrial robot systems for both north America and the rest if the world as well as highlight robot manufacturers adherence to the standards, response to safety, and how risk management can be applied.

Tubes and pipelines serve as a major component of several units in power plants and oil, gas, and water transmission. These structures undergo extreme conditions, where temperature and pressure vary, leading to corroding of the pipe over time, creating defects in them. A small crack in these tubes can cause major safety problems, so a regular inspection of these tubes is required. Most power plants prefer to use non-destructive testing procedures, such as long-range ultrasonic testing and phased array ultrasonic testing, to name a few. These procedures can be carried out with the help of crawlers that go inside the pipes. One of the main drawbacks of the current robotic tube inspection robots is the lack of maneuverability over complex tubular structures and the inability to traverse non-ferromagnetic pipelines. The main motivation of this project is to create a robotic system that can grab onto ferromagnetic and non-ferromagnetic tubes and move along those, move onto adjacent tubes, and maneuver around flanges and bends in the tube. Furthermore, most of the robots used for inspection rely on roller balls and suction-based components that can allow the robot to hold on to the curved surface of the tube. These techniques fail when the surface is rough or uneven, which has served as an inspiration to look at friction-based solutions. Lizards are known for their agile locomotion, as well as their ability to grab on any surface irrespective of the surface texture. The work presented here is focused on the design and control of a lizard-inspired tube inspection robot that can be used to inspect complex tubular structures made of any material.