In:
Archive of Mechanical Engineering, Walter de Gruyter GmbH, Vol. 62, No. 3 ( 2015-09-1), p. 395-408
Abstract:
This paper presents a design of a tracked in-pipe inspection mobile robot with an adaptive drive positioning system. The robot is intended to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically. The paper covers a design process of a virtual prototype, focusing on track adaptation to work environment. A mathematical description of a kinematic model of the robot is presented. Operation of the prototype in pipes with a cross-section greater than 210 mm is described. Laboratory tests that validate the design and enable determination of energy consumption of the robot are presented.
Type of Medium:
Online Resource
ISSN:
2300-1895
DOI:
10.1515/meceng-2015-0023
Language:
Unknown
Publisher:
Walter de Gruyter GmbH
Publication Date:
2015
detail.hit.zdb_id:
2620641-9
