Virtual prototyping, design and analysis of an in-pipe inspection mobile robot

• Autorzy: Ciszewski M. , Buratowski T. , Giergiel M. , Małka P. , Kurc K.
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

pipeline inspection; mobile robot; drive positioning; Maggi’s equations

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2014
• Tom: Vol. 52 nr 2
• Strony: 417--429
• Opis fizyczny: Bibliogr. 19 poz., rys.

Twórcy

autor

Ciszewski M.

• AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Kraków, Poland

autor

Buratowski T.

• AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Kraków, Poland

autor

Giergiel M.

• AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Kraków, Poland

autor

Małka P.

• AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Kraków, Poland

autor

Kurc K.

• Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Rzeszów, Poland

Bibliografia

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