Virtual prototyping, design and analysis of an in-pipe inspection mobile robot
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AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Kraków, Poland
Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszów, Poland
Journal of Theoretical and Applied Mechanics 2014;52(2):417-429
This paper presents a design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system. The robot is intended to operate in circular and rectangular pipes and ducts oriented horizontally and vertically. The paper covers the complete design process of a virtual prototype, focusing on track adaptation to the working environment. A mathematical description of kinematics and dynamics of the robot is presented. Operation in pipes with a cross section over 210 mm is discussed. Laboratory tests of the utilized tracks are included, confirming conducted FEA simulations.
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