- Tytuł:
- Virtual prototyping, design and analysis of an in-pipe inspection mobile robot
- Autorzy:
-
Ciszewski, M.
Buratowski, T.
Giergiel, M.
Małka, P.
Kurc, K. - Powiązania:
- https://bibliotekanauki.pl/articles/281816.pdf
- Data publikacji:
- 2014
- Wydawca:
- Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
- Tematy:
-
pipeline inspection
mobile robot
drive positioning
Maggi’s equations - Opis:
- 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 210mm is discussed. Laboratory tests of the utilized tracks are included, confirming conducted FEA simulations.
- Źródło:
-
Journal of Theoretical and Applied Mechanics; 2014, 52, 2; 417-429
1429-2955 - Pojawia się w:
- Journal of Theoretical and Applied Mechanics
- Dostawca treści:
- Biblioteka Nauki
Artykuł