Dynamic research of a walking pipe robot

被引：0

作者：

Mistinas, Vygantas ^{[1
]}

Spruogis, Bronislovas ^{[1
]}

机构：

[1] Vilnius Gediminas Tech Univ, Dept Transport Technol Equipment, LT-10105 Vilnius 16, Lithuania

来源：

MECHATRONIC SYSTEMS AND MATERIALS | 2006年 / 113卷

关键词：

walking pipe robot; a vibratory impulse drive; piping system; dynamic model;

D O I：

10.4028/www.scientific.net/SSP.113.285

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, a walking pipe robot for an inpipe inspection of an underground urban gas pipeline is presented. The robot is developed for visual and Non-Destructive Testing of pipeline networks. The robot is configured as an articulated structure - resembling a snake shape. Two active driving vehicles are located in the front and rear parts of the system. Passive modules such as a control module and other optional modules are inserted between the active vehicles. The design scheme of an inpipe inspection robot with a vibratory impulse actuator is discussed. The dynamic model of a robot with a vibratory pneumatic actuator was developed and the equations of its movement were derived.

引用

页码：285 / 290

页数：6

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