Influence of pipe geometric deviation on bristled in-pipe mobile robot locomotion

International Journal of Advanced Robotic Systems

AlenaGalajdová¹ 

关键词: Mobility;    motion planning;    service robotics;    in-pipe robot;    bristled robot;    pipe locomotion;    actuator;   

DOI  :  10.1177/1729881418775808

学科分类：自动化工程

来源: InTech

【 摘 要 】

This article deals with the analysis of geometric deviations influence on in-pipe robot locomotion, which uses the principle of friction difference principle. Bristles are as carrying elements. They are mounted as cantilever beams at angle to robot body. The robot should locomote inside industrial pipelines. All pipes have geometric deviations, which come from production process otherwise from operation process. It is necessary to know about the influence of these geometric deviations on the robot locomotion.

【 授权许可】

CC BY