Mobile Inspection Robot-Reference-Cited by-同舟云学术

Mobile Inspection Robot

Published:2013-05 Issue: Volume:319 Page:385-392
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Ciszewski Michał¹,Buratowski Tomasz¹,Giergiel Mariusz¹,Kurc Krzysztof²,Małka Piotr¹

Affiliation:

1. AGH University of Science and Technology

2. Rzeszow University of Technology

Abstract

In this paper, the design of a tracked in-pipe inspection mobile robot with a flexible drive positioning system is presented. The robot would be able to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically with cross section greater than 200 mm. The paper presents a complete design process of a virtual prototype, with usage of CAD/CAE software. Mathematical descriptions of the robot kinematics and dynamics that aim on development of a control system are presented. Laboratory tests of the utilized tracks are included. Performed tests proved conformity of the design with stated requirements, therefore a prototype will be manufactured basing on the project.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.319.385.pdf

Reference17 articles.

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